Article Details

Abstract

A marine pipeline is a transport pipeline laid on the seabed to transport liquids, gases or loose solids. This pipeline transportation method is widely used in manufacturing and other use scenarios due to its advantages such as high efficiency and low energy consumption. However, during transportation, the pipeline is often damaged, resulting in leakage during transportation and causing environmental pollution. Therefore, this paper proposes a marine pipeline inspection robot based on Raspberry Pi and STM32. The design uses ROS as a development platform, with modules such as tracking, graphic recognition, and manipulator grasping. It can be used with submarine pipelines to understand the use of pipelines in real time, realizing comprehensive identification of the use of submarine pipelines, automatic cleaning of pipelines, and correction of robot posture.

Keywords

ROS; pipeline inspection; real-time monitoring; underwater robot

References

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Funding

2023 Key College Students' Innovation and Entrepreneurship Training Program Project (XZ202313857034)

About the authors

Li Jinming (September 2003-), male, Han ethnicity, from Yantai, Shandong, is currently pursuing a bachelor's degree with a research focus on robotics engineering; Hao Chuanzhu (1983.04-), male, Han nationality, from Liaocheng, Shandong Province, associate professor, engineer, undergraduate, research direction: automation and control engineering.