An evaluation method of municipal pipeline cleaning effect based on image processing

In view of the shortcomings of pipeline cleaning robot in the domestic market. A new pipeline cleaning robot is designed. The design idea is to combine high-pressure water jet cleaning equipment with the main body of the robot, equipped with underwater camera and image processing system. A cleaning effect evaluation method based on image processing, using python language is designed and applied to the robot. After a series of image pre-processing, including defogging, image enhancement, image segmentation, image binarization, etc. of the collected images, black-and-white images are obtained which clearly distinguish the scale and the pipe wall. The cleaning effect is evaluated according to the proportion of black pixels and white pixels. The test results show that this method can effectively process the original fogged image to distinguish the scale and pipe wall in the image. This method provides a basis for the evaluation of the operation effect of the pipe cleaning robot.