Pipeline trolley navigation method based on cross laser and monocular vision system

Abstract

The invention relates to a pipeline trolley positioning and navigation method based on a cross-shaped laser and a monocular camera. The method comprises the steps that a cross-shaped laser and a monocular camera are fixed to one side of a pipeline trolley, the central axis of the trolley is placed at the position, close to the center line, of a square pipeline, the cross-shaped laser projects cross-shaped laser to the wall of the narrow square pipeline, and the monocular camera collects images; the length of the cross light bar in the transverse direction and the longitudinal direction of the image is measured through image processing, the light bar length information of the position is recorded, then the pipeline trolley walks along the square pipeline, the monocular camera collects the image in real time, image processing is carried out, and the position and posture of the pipeline trolley are calculated through the light bar length information. Finally, online real-time deviation correction is conducted on the trolley through a control algorithm, it is guaranteed that the pipeline trolley walks in a narrow pipeline without collision, the problems that a rectangular pipeline is narrow in space, little in navigation information and prone to collision are solved, and real-time navigation of the pipeline trolley is achieved.

Description

technical field [0001] The invention relates to the positioning and navigation of a car-type robot, in particular to a navigation method for a pipeline car based on a cross laser and a monocular vision system. Background technique [0002] Once the pipeline is installed, it is difficult to disassemble it for off-line cleaning and maintenance. Since the pipeline studied is a special medium transmission pipeline, the internal space is narrow. Although the existing contact pipeline robot can enter the pipeline to work on the pipeline, the contact pipeline robot The treatment method will cause damage to the special pipe wall and cannot be effectively applied. After a lot of research, researchers can use the laser method to clean the pipeline in a non-contact manner. However, the traveling mechanism of the pipeline trolley is easy to deviate and collide with the pipeline wall. A large number of scholars have studied the non-contact pipeline treatment method. image processing, bu...

AI Technical Summary

Problems solved by technology

[0002] Once the pipeline is installed, it is difficult to disassemble it for off-line cleaning and maintenance. Since the pipeline studied is a special medium transmission pipeline, the internal space is narrow. Although the existing contact pipeline robot can enter the pipeline to work on the pipeline, the contact pipeline robot The treatment method will cause damage to the special pipe wall and cannot be effectively applied

After a lot of research, researchers can use the laser method to clean the pipeline in a non-contact manner. However, the traveling mechanism of the pipeline trolley is easy to deviate and collide with the pipeline wall. A large number of scholars have studied the non-contact pipeline treatment method. information for image processing, but the square pipe has almost no texture information, the image processing cannot extract effective and stable pipe information, and the reflection of the pipe is serious, which brings great difficulties to the camera measurement

[0003] In the prior art, two lasers and a monocular camera are used to realize the straight-line travel of pipeline vehicles, but this method needs to keep the optical planes of the two line lasers parallel to the optical axis of the monocular camera, and the installation is more complicated. If the parallelism is poor , using this method for detection, the detection accuracy is low, and it is easy to collide with the pipe wall and cause damage

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