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HOLLOW NANO WASTEWATER DRAINAGE DEFECT PIPELINE detection robot DESIGN BASED ON OPENCV

MECHATRONIC SYSTEMS AND CONTROL 2025年第2期53卷 84-90页

作者： Mei, Yuqian Zhang, Zhiying Sun, Liang Li, Yunpeng Shijiazhuang Inst Railway Technol Personnel Div Shijiazhuang 050041 Peoples R China Shijiazhuang Inst Railway Technol Architecture Dept Shijiazhuang 050041 Peoples R China Shijiazhuang Inst Railway Technol Dept Geomat Engn Shijiazhuang 050041 Peoples R China Shijiazhuang Inst Railway Technol Acad Affairs Off Shijiazhuang 050041 Peoples R China

The urban sewage pipeline rupture and leakage can seriously affect the daily life of residents. The defect detection of drainage pipelines is an important support for the continuous functioning and later maintenance of pipelines. The internal environment of the wastewater drainage pipeline is poor. The existing defect detection methods have limited ability to extract image features. The accuracy of the detection methods cannot meet the expected requirements. Based on this, a pipeline defect detection robot is designed based on defect image analysis of waste drainage pipelines. For defect image recognition in robots, the Canny algorithm is improved to pre-process defect images. Then, the improved Mask-region-convolutional neural network (Mask-RCNN) model is constructed to extract the processed defect image features. According to the findings, the defect image recognition model constructed in the study converges only after 12 iterations. The accuracy of image recognition can be maintained at around 98.85%. The robot defect detection rate based on this image recognition model is 100%. This indicates that the proposed detection robot based on improved defect image feature recognition can better complete defect detection of drainage pipelines, providing support for drainage pipeline maintenance.

关键词： OpenCV hollow nano drainage pipes pipeline defects detection robot CNN Canny

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Analysis on Obstacle-surmounting of Coal Mine detection robot with Mechanical Arm

Analysis on Obstacle-surmounting of Coal Mine Detection Robo...

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International Symposium on Vehicle, Mechanical, and Electrical Engineering (ISVMEE 2013)

作者： Hu, Han Niu, Zhigang Taiyuan Univ Technol Coll Mech Engn Taiyuan 030024 Peoples R China

ISBN: (纸本)9783038350033

This paper took the coal mine detection robot model TUT-CMDR for research. First of all, the three degrees freedom mechanical arm was installed on the robot's body. By the same time, the theory of Euler angle and D-H method were established to analysis the posture and position of robot body and mechanical arm. After the integration, the centroid coordinates on the robot in any location was calculated. In the next place, mechanical arm angle change and the size of the load effect on both forward obstacle-surmounting and the barrier height were discussed. In the end, the three dimensional relationship diagrams of barrier height, barycenter, pitch angle, arms' swing angle and mechanical arm's swing angle were drawn and the results of mechanical arm gesture planning were compared with the initial state. The theory will provide basis for robot obstacle-navigation control.

关键词： D-H method Coal mine detection robot Mechanical arm Centroid Barrier-climbing

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A wide range on-line energy acquisition method for transmission lines based on resonant choke coil

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IET POWER ELECTRONICS 2022年第11期15卷 1047-1057页

作者： Liu, Zheng Tan, HengJing Fan, ShaoSheng Changsha Univ Sci & Technol Sch Elect & Informat Engn Changsha 410000 Hunan Peoples R China Changsha Univ Sci & Technol Hunan Prov Key Lab Elect Power Robot Changsha Hunan Peoples R China

To the traditional transmission line induction energy acquisition method, large starting current and small output power are the key problems that hinder its wide application in transmission line detection system or detection robot. This paper proposes a wide range on-line energy acquisition method to solve the problems. By analysing, how large the impedance of the transmission line determines how much power can be transmitted into the parallel connected devices. The novel method tries to couple a high impedance into the transmission line by using a choke coil that is parallel resonated with a matching capacitor. Consequently, the current shunt to the parallel-connected load will increase and the power output can be significantly improved. Simulation and experiment results show that the novel method can harvest more output power than the conventional inductive acquisition method under the condition of the same bus current and the same magnetic core.

关键词： magnetic core parallel connected devices transmission line detection system detection robot power transmission lines conventional inductive acquisition method inductance capacitors magnetic cores resonant choke coil traditional transmission line induction energy acquisition method output power online energy acquisition method coils

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An Improved Multi-objective Evolutionary Algorithm for A robot Detect Path Planning Problem 41

An Improved Multi-objective Evolutionary Algorithm for A Rob...

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第41届中国控制会议

作者： Jinshuai Dong Hongguo Wang Quan-ke Pan School of Mechanical and Electrical Engineering and Automation Shanghai University Liaocheng Vocational & Technical College

ISBN: (数字)9789887581536

ISBN: (纸本)9781665482561

In this paper,we study the path planning problem of the detection robot after the coal mine disaster,and arrange a robot to detect multiple target *** objective is to minimize the path length and the degree of danger ***,the A-Star algorithm is used to obtain the path matrix of any two target *** an improved multi-objective optimization algorithm is proposed to find paths with Pareto optimal or near-optimal ***,the multi-objective optimization algorithm is compared with other multi-objective optimization *** experimental results demonstrate that the algorithm can effectively obtain the detection path and minimize the length of the path and the degree of danger.

关键词： detection robot Path planning A-Star algorithm Multi-objective optimization algorithm

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Experimental study of the Dynamic Performance of a Cable with a Detecting robot

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2nd International Conference on Mechatronics and Control Engineering (ICMCE 2013)

作者： Xu, Fengyu Chen, Zixin Nanjing Univ Posts & Telecommun Coll Automat Nanjing Jiangsu Peoples R China Southeast Univ Sch Instrument Sci & Technol Nanjing 211189 Peoples R China

ISBN: (纸本)9783037858943

To analyze further the dynamic characteristics of the robot cable system, similar experimental models of cables on the Junshan Highway Bridge are constructed. To study the effect of high-altitude wind load on the safe performance of the cable and the robot's climbing ability, transverse wind load is simulated and wind-load equivalent experiments on cable vibration are performed on the robot to simulate high-altitude conditions. Vibration amplitude and acceleration of the cable slightly increase under Grade 7 wind, which demonstrates the stability of the cable robot system.

关键词： Inclined cable model Wind-load experiment detection robot

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Optimization Design of Pipeline robot Based on TRIZ Theory 6

Optimization Design of Pipeline Robot Based on TRIZ Theory

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6th IEEE International Conference on Automation, Electronics and Electrical Engineering, AUTEEE 2023

作者： Wang, Huayin Zhang, Zhehao Cai, Jinbo Ai, Siwei Hu, Yifei Yan, Boren Wuhan University of Science and Technology Wuhan China Yangzhou University Yangzhou China

ISBN: (纸本)9798350305623

As an important transportation resource facility, oil and gas pipelines provide enormous convenience for sustainable energy development and greatly save energy transportation costs. Oil and gas pipelines are mainly buried underground, so they are prone to physical corrosion, which may lead to accidents such as oil and gas leaks, explosions, and fires. Pipeline robots reduce labor costs and greatly save labor intensity in pipeline maintenance, inspection, and cleaning projects. However, the existing pipeline inspection robots cannot adapt to pipelines with multiple diameters, and are powerless for pipelines with slopes. This article applies TRIZ theory to the optimization design of oil and gas pipeline inspection robots and conducts experimental verification. © 2023 IEEE.

关键词： detection robot machine design TRIZ

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Welding Seam Tracking and Inspection robot Based on Improved YOLOv8s-Seg Model

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SENSORS 2024年第14期24卷 4690页

作者： Zhao, Minghu Liu, Xinru Wang, Kaihang Liu, Zishen Dong, Qi Wang, Pengfei Su, Yaoheng Xian Polytech Univ Sch Sci Xian 710048 Peoples R China Xian Polytech Univ Sch Elect Informat Xian 710048 Peoples R China Xian Polytech Univ Sch Mech & Elect Engn Xian 710048 Peoples R China

A weld is the main connection form of special equipment, and a weld is also the most vulnerable part of special equipment. Therefore, an effective detection of a weld is of great significance to improve the safety of special equipment. The traditional inspection method is not only time-consuming and labor-intensive, but also expensive. The welding seam tracking and inspection robot can greatly improve the inspection efficiency and save on inspection costs. Therefore, this paper proposes a welding seam tracking and inspection robot based on YOLOv8s-seg. Firstly, the MobileNetV3 lightweight backbone network is used to replace the backbone part of YOLOv8s-seg to reduce the model parameters. Secondly, we reconstruct C2f and prune the number of output channels of the new building module C2fGhost. Finally, in order to make up for the precision loss caused by the lightweight model, we add an EMA attention mechanism after each detection layer in the neck part of the model. The experimental results show that the accuracy of weld recognition reaches 97.8%, and the model size is only 4.88 MB. The improved model is embedded in Jetson nano, a robot control system for seam tracking and detection, and TensorRT is used to accelerate the reasoning of the model. The total reasoning time from image segmentation to path fitting is only 54 ms, which meets the real-time requirements of the robot for seam tracking and detection, and realizes the path planning of the robot for inspecting the seam efficiently and accurately.

关键词： seam tracking YOLOv8s-seg lightweight design weld identification detection robot

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Study on Insulator Deterioration Mechanism of ±800kV Transmission Lines and Live detection Method of Faulty Insulator

Study on Insulator Deterioration Mechanism of ±800kV Transm...

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2016 International Conference on Computer, Mechatronics and Electronic Engineering (CMEE 2016)

作者： Wen LI De-hua ZOU Ming ZOU Ri-cheng LUO Yu YAN State Grid Hunan Electric Power Company Live Working Center School of Electrical and information Engineering Changsha University of Science & Technology

According to the deterioration characteristic of insulators, leakage current changes in direct proportion to voltage distribution of insulators, however, presence of fault insulator directly affects the insulating property of transmission lines, thus a more accurate, economic and intelligent fault insulator detecting method needs to be studied. This paper designs a detection robot for live detection of faulty insulators of ±800kV ultra-high voltage direct current transmission lines. The detection approach of the device includes shorting out two insulators, collecting detection current generated by a 2500 kV power supply of a detection module and leakage current of an insulator string, achieving precise data through an improved algorithm to ensure accuracy of detection results, and developing a prototype to perform simulated experiments. In accordance with experimental data, error of insulation resistance of an insulator detected by the device is within 5% so that whether an insulator of a line in normal operation is a low resistance insulator or zero resistance insulator can be effectively determined, accordingly quality status of the insulator can be judged to achieve the aim of experiments. The equipment is highly practicable and has high practical value in engineering.

关键词： Faulty insulator detection robot detection module Simulated experiments

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