Research on Vision Control System of Pipeline Robot

As the "blood vessel" of the city, pipelines are all over the underground of the city. To inspect the pipeline conveniently and intuitively, the pipeline robot needs to enter the pipeline and transmit the real-time image inside the pipeline through the camera module of the robot. However, most pipeline robots rely on manual attitude control for turning and other operations. This paper studies the problem of automatic navigation when the robot is running in the pipeline with high water pressure, which can assist the operator to control the robot.The basic principle is that the video signal of the camera is transmitted to the host computer through the optical fiber, and the upper computer processes the image to determine whether to turn and the direction of turning, and then sends instructions to the attitude change module. This method can accurately judge the turning direction, and good results are obtained in the experiment.