CN102707720A - Control system and working method of robot walking outside pipes - Google Patents
Control system and working method of robot walking outside pipes Download PDFInfo
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- CN102707720A CN102707720A CN2012101688698A CN201210168869A CN102707720A CN 102707720 A CN102707720 A CN 102707720A CN 2012101688698 A CN2012101688698 A CN 2012101688698A CN 201210168869 A CN201210168869 A CN 201210168869A CN 102707720 A CN102707720 A CN 102707720A
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Abstract
The invention discloses a control system of a robot walking outside pipes and a working method of the robot walking outside pipes. The control system consists of a front camera, a rear camera, a radio transceiver, an embedded main control machine and a handhold wireless monitoring terminal, wherein the front camera, the rear camera, the radio transceiver and the embedded main control machine are arranged on the body of the robot walking outside pipes, and the handhold wireless monitoring terminal is operated by workers. According to the control system, the robot walking outside the pipes can be controlled to climb various pipes in a complex pipe environment through controlling the former components, such as straight pipes, bent pipes, T-shaped pipes or cross pipes, and can rotate leftwards or rightwards around the pipelines, so that the application requirements of continuously detecting, maintaining, repairing or cleaning the external parts of the pipes and various column-shaped work pieces can be met.
Description
Technical field
The present invention relates to the control technology field of bio-robot, especially a kind of control system of pipe robot walking outside and method of work.
Background technology
To industrial pipeline, stay cables of bridge, cable etc. carry out regular detection, M R is absolutely necessary.If end user's construction method, the man power and material of labor not only, efficient is low, poor stability, and also many occasions can't allow manual work at all.
Report or patent that some pipe robot walking outside researchs are also arranged at present.The robot of operation generally adopts creeping motion type, spiral, tumbling-type, multiple move mode such as climb type alternately on pipeline external surface; But they often all have some application limit; All can only not possess the function of turn-taking like, their majorities along the walking of pipeline direction around pipe, have can not crossing pipeline on obstacle; A kind of pipeline conditions that only is fit to climb vertical rod or horizon bar that has; That have in addition can not be continuously, equably through piping outside surface everywhere, like this, they just can not satisfy some requirements that need carry out the pipeline external surface of various attitudes continuous detecting or maintenance.
For this reason, the applicant had once applied for " pipe robot walking outside ", and this robot physical construction technical scheme is:
A kind of pipe robot walking outside physical construction, technical scheme is, it is made up of front and back 2 joint car bodies, and 2 save car bodies is hinged and connected to together through 1 plane hinge mechanism;
Described plane hinge mechanism installs swing span at the driving shaft two ends of a new line steering wheel, and swing span and prosthomere car body are hinged, and steering wheel and deutomerite car body are fixed, the relative swing up and down before and after realizing under the driving of steering wheel between 2 joint car bodies;
The structure of described front and back 2 joint car bodies is identical, and the structure of car body is, the back and front supporting wheel is installed on bottom center's axis of body framework, is equipped with in the both sides, bottom surface of body framework and embraces a pipe travel mechanism;
Described armful the pipe travel mechanism structure be, on body framework the fixed installation linear electric motors body, the core of linear electric motors body is a screw shaft; Screw shaft and body framework vertical relation; The bottom of screw shaft is installed with driving-disc, and the driving-disc top puts connecting rod rest, hinged 2 connecting rods of left-right symmetric on the connecting rod rest; The outer end of 2 connecting rods is hinged upper roller support respectively, and the top of each rolling wheel support is hinged on the body framework separately; The walking roller that the walking steering wheel drives is installed on the rolling wheel support; The installation axis symmetry of the walking roller of front and back 2 joint car bodies is splayed arranges, the installation axis of the left and right sides walking roller of every joint car body is splayed to be arranged, when linear electric motors body screw shaft moves downward; Connecting rod rest promotes 2 connecting rods and outwards opens, and then promotes left and right sides walking roller support and outwards open, and makes roller throw off pipeline; Otherwise left and right sides walking roller support inwardly closes up, and makes roller embrace steel pipe; And in following armful of pipe walking of walking steering wheel drive, to realize the front and back operation of car body.
Though the applicant discloses pipe robot walking outside physical construction, also there is not to disclose its control system.
Summary of the invention
The objective of the invention is to disclose a kind of control system of pipe robot walking outside and the method for work of control system.Realize the automatic walking work of pipe robot walking outside on pipeline through this system.
Technical scheme of the present invention is:
A kind of control system of pipe robot walking outside, it is by being installed in front end camera on the pipe robot walking outside fuselage, rear end camera, wireless transceiver, embedded main control computer and being made up of the portable wireless monitor terminal of staff's straighforward operation; Wherein
Described front end camera is a kind of camera of band cloud platform, can regulate and control it arbitrarily and take direction, is positioned at the front end of pipe robot walking outside, is used for the image of floor; The rear end camera also is a kind of camera of band cloud platform, can regulate and control it arbitrarily and take direction, is positioned at the rear end of pipe robot walking outside, is used for the image of floor;
Described wireless transceiver is connected to form by wifi module, power module and antenna; Wireless transceiver is used to accept the steering order that emission comes from the portable wireless monitor terminal, also can be used for the image that photographs to portable wireless monitor terminal front end of emission camera and rear end camera;
Described embedded main control computer is connected to form by CPU, data memory module, power management module, network control module, USB control module, serial ports control module, motor drive module; Aforesaid front end camera is connected with embedded main control computer through USB interface with the rear end camera, and the The Cloud Terrace of front end camera and rear end camera all passes through serial ports and is connected with embedded main control computer; The new line steering wheel of pipe robot walking outside is connected with embedded main control computer through serial ports; The left front walking steering wheel of pipe robot walking outside, right front walking steering wheel, left back walking steering wheel, right back walking steering wheel are connected with embedded main control computer through serial ports; The front and back linear electric motors of pipe robot walking outside are driven by the motor-drive circuit of embedded main control computer; Wireless transceiver also is connected with embedded main control computer through USB interface; The steering order of sending from the portable wireless monitor terminal that embedded main control computer is used for that the real-time listening wireless transceiver receives; And according to the new line steering wheel of the steering order control tube robot walking outside that listens to, all walking steering wheels, the action of front and back linear electric motors; And the image that photographs of acquisition front end camera and rear end camera, output to wireless transceiver behind the compressed encoding and send to the portable wireless monitor terminal;
Described portable wireless monitor terminal is connected to form by touch-screen, wireless transceiver and embedded monitoring machine; Wherein
Described touch-screen plays the effect of keyboard and display simultaneously, be used for the display monitoring image with send steering order;
Described wireless transceiver is connected to form by wifi module, power module and antenna, can be used to accept the image scene from the shooting of pipe robot walking outside, also can be used for to pipe robot walking outside emission control instruction; It is connected with the embedded monitoring machine through USB interface;
Described embedded monitoring machine is the master controller of portable wireless monitor terminal; Connect to form by CPU, power management module, data memory module, display screen control module and USB control module; Can the steering order that touch-screen sends be outputed to wireless transceiver and send to the pipe robot walking outside, be presented on the touch-screen after the image scene decoding that photographs by the pipe robot walking outside that also can wireless transceiver be received.
Two, the method for work of the control system of aforementioned tube robot walking outside is:
1, portable wireless monitor terminal and pipe robot walking outside are taked the full-duplex communication mode; The image scene that the portable wireless monitor terminal photographs through former and later two cameras of touch-screen monitor tube robot walking outside with send steering order and give the embedded monitoring machine, steering order comprises " front end advances ", " the front end advance and retreat stop ", " front end is retreated ", " advancing in the rear end ", " the rear end advance and retreat stop ", " rear end is retreated ", " integral body is advanced ", " whole advance and retreat stop ", " integral body is retreated ", " front end clampings ", " the front end degree of tightness stops ", " front end unclamps ", " rear end clampings ", " the rear end degree of tightness stops ", " unclamp the rear end ", " anticlockwise ", " rotation stops ", " right rotation ", " new line ", " lifting bows stops ", " bowing ", " anticlockwise of front end camera ", " the front end camera rotates and stops ", " right rotation of front end camera ", " front end camera new line ", " the front end camera is lifted to bow and stopped ", " the front end camera is bowed ", " rear end camera anticlockwise ", " the rear end camera rotates and stops ", " rear end camera right rotation ", " rear end camera new line ", " the rear end camera is lifted to bow and stopped ", " the rear end camera is bowed " etc.The touch-screen of portable wireless monitor terminal sends steering order and exports to the embedded monitoring machine, and the embedded monitoring machine is transmitted to the pipe robot walking outside with steering order through wireless transceiver;
2, the steering order of sending from the portable wireless monitor terminal that receives of the embedded main control computer real-time listening wireless transceiver of pipe robot walking outside; When the steering order that listens to was " front end advances ", " the front end advance and retreat stop " or " front end is retreated ", left front walking steering wheel and right front walking steering wheel rotated forward simultaneously, stop operating simultaneously or rotate backward simultaneously; When the steering order that listens to was " advancing in the rear end ", " the rear end advance and retreat stop " or " rear end is retreated ", left back walking steering wheel and right back walking steering wheel rotated forward simultaneously, stop operating simultaneously or rotate backward simultaneously; When the steering order that listens to was " integral body is advanced ", " whole advance and retreat stop " or " integral body is retreated ", left front walking steering wheel, right front walking steering wheel, left back walking steering wheel and right back walking steering wheel rotated forward simultaneously, stop simultaneously or rotate backward simultaneously; When the steering order that listens to was " front end clamping ", " the front end degree of tightness stops " or " front end unclamps ", physical construction clamping pipe, the front end linear electric motors that the front end linear electric motors order about front end stopped operating or the front end linear electric motors order about physical construction and unclamp pipeline; When the steering order that listens to was " rear end clamping ", " the rear end degree of tightness stops " or " unclamp the rear end ", physical construction clamping pipe, the rear end linear electric motors that the rear end linear electric motors order about the rear end stopped operating or the rear end linear electric motors order about physical construction and unclamp pipeline; When the steering order that listens to is " anticlockwise "; Left front walking steering wheel rotates forward, and right front walking steering wheel rotates backward, and left back walking steering wheel rotates backward; Right back walking steering wheel rotates forward, and this moment, the pipe robot walking outside will be around pipeline to anticlockwise under the ordering about of steering wheel; When the steering order that listens to was " rotation stops ", four steering wheels stopped simultaneously; When the steering order that listens to is " right rotation "; Left front walking steering wheel rotates backward, and right front walking steering wheel rotates forward, and left back walking steering wheel rotates forward; Right back walking steering wheel rotates backward, and this moment, the pipe robot walking outside will be around pipeline to right rotation under the ordering about of steering wheel; When the steering order that listens to is " new line ", the angle of rear and front end that the new line steering wheel orders about the pipe robot walking outside by 180 degree to diminish direction motion of angle; When the steering order that listens to was " lifting bows stops ", the new line steering wheel stopped operating; When the steering order that listens to was " bowing ", the angle that the new line steering wheel orders about the rear and front end of pipe robot walking outside changed from small to big; When the steering order that listens to was " anticlockwise of front end camera ", the cradle head control camera of front end camera was to anticlockwise; Same, when the steering order that listens to is the steering order of control cam movement, the cradle head control front end camera of front end camera or rear end camera or rear end camera left rotation and right rotation or lift and bow so that adjust shooting angle;
3, the image taken of the front end camera that carries of the real-time collection tube robot walking outside of embedded main control computer of pipe robot walking outside and rear end camera and two picture groups are sent to the portable wireless monitor terminal through wireless transceiver after as compressed encoding;
4, the wireless transceiver of portable wireless monitor terminal receives two groups of sending of pipe robot walking outside through after the view data of compressed encoding; Be transferred to the embedded monitoring machine and decode, the embedded monitoring machine looks like to be presented at decoded two picture groups of being taken by front end camera and rear end camera on the touch-screen;
5, through two groups of image scenes on the touch-screen of observing the portable wireless monitor terminal can according to the reasonable layout steering order of actual conditions send that order can the control tube robot walking outside be accomplished multiple cast such as climbing straight tube, bend pipe, L shaped pipe, T shape pipe and cruciform pipe or around multiple-tasks such as pipeline left rotation and right rotation.
Good effect of the present invention is, adopt radio communication avoided circuit restriction and can pinnacled pipeline in or climb multiple cast such as straight tube, bend pipe, T shape pipe or cruciform pipe in the complicated pipeline environment and can center on the pipeline left rotation and right rotation; Multiple cast such as straight tube, bend pipe, T shape pipe or cruciform pipe can be in some pipeline invisible to the human eye, climbed through camera head monitor especially and the pipeline left rotation and right rotation can be centered on; The pipe robot walking outside can carry weld seam detection device, paint spraying outfit or burnisher etc., so just can satisfy the application need to outside continuous detecting, maintenance, reparation or the cleaning etc. of pipeline and various cylinder workpiece.
Description of drawings
Fig. 1 is a portable wireless monitor terminal theory diagram of the present invention;
Fig. 2 is a pipe robot walking outside control principle block diagram of the present invention.
Among the figure: the embedded main control computer of 1-, 2-front end camera, 3-rear end camera, 4-wireless transceiver, 5-new line steering wheel; 6-front end walking steering wheel group, 7-rear end walking steering wheel group, 8-front end linear electric motors, 9-rear end linear electric motors; 10-physical construction, 11-embedded monitoring machine, 12-touch-screen, 13-wireless transceiver; The left front walking steering wheel of 14-, the right front walking steering wheel of 15-, the left back walking steering wheel of 16-, the right back walking steering wheel of 17-.
Embodiment
Like Fig. 1, shown in 2; A kind of control system of pipe robot walking outside, it is by being installed in front end camera 1 on the pipe robot walking outside fuselage, rear end camera 2, wireless transceiver 4, embedded main control computer 1 and being made up of the portable wireless monitor terminal of staff's straighforward operation; Wherein
Described front end camera 2 is cameras of a kind of band cloud platform, can regulate and control it arbitrarily and take direction, is positioned at the front end of pipe robot walking outside, is used for the image of floor; Rear end camera 3 also is a kind of camera of band cloud platform, can regulate and control it arbitrarily and take direction, is positioned at the rear end of pipe robot walking outside, is used for the image of floor;
Described wireless transceiver 4 is connected to form by wifi module, power module and antenna; Wireless transceiver 4 is used to accept the steering order that emission comes from the portable wireless monitor terminal, also can be used for the image that photographs to portable wireless monitor terminal front end of emission camera 2 and rear end camera 3;
Described embedded main control computer 1 is connected to form by CPU, data memory module, power management module, network control module, USB control module, serial ports control module, motor drive module; Aforesaid front end camera 2 is connected with embedded main control computer 1 through USB interface with rear end camera 3, and the The Cloud Terrace of front end camera 2 and rear end camera 3 all passes through serial ports and is connected with embedded main control computer 1; New line steering wheel 5 is connected with embedded main control computer 1 through serial ports; Left front walking steering wheel 14, right front walking steering wheel 15, left back walking steering wheel 16, right back walking steering wheel 17 are connected with embedded main control computer 1 through serial ports; Front and back ends linear electric motors 8 and 9 motor drive modules by embedded main control computer 1 drive; Wireless transceiver 4 also is connected 1 through USB interface with embedded main control computer; The steering order of sending from the portable wireless monitor terminal that embedded main control computer 1 is used for that real-time listening wireless transceiver 4 receives; And according to the new line steering wheel 5 of the steering order control tube robot walking outside that listens to, all walking steering wheels 14/15/16/17 and forward and backward straight end line motor 8 and 9 actions; And acquisition front end camera 2 and the image that rear end camera 3 photographs, output to wireless transceiver 4 behind the compressed encoding and send to the portable wireless monitor terminal;
Described portable wireless monitor terminal is connected to form by touch-screen 12, wireless transceiver 13 and embedded monitoring machine 11; Wherein
Described touch-screen 12 plays the effect of keyboard and display simultaneously, be used for the display monitoring image with send steering order;
Described wireless transceiver 13 is connected to form by wifi module, power module and antenna, can be used to accept the image scene from the shooting of pipe robot walking outside, also can be used for to pipe robot walking outside emission control instruction; It is connected with embedded monitoring machine 11 through USB interface;
Described embedded monitoring machine 11 is master controllers of portable wireless monitor terminal, is connected to form by CPU, power management module, data memory module, display screen control module and USB control module; It can output to the steering order that touch-screen 12 sends wireless launcher 13 and send to the pipe robot walking outside, is presented on the touch-screen after the image scene decoding that is photographed by the pipe robot walking outside that also can wireless transceiver 13 be received.
The physical construction block diagram that has also shown the pipe robot walking outside among Fig. 2; New line steering wheel 5, front end walking steering wheel group 6, rear end walking steering wheel group 7, front end linear electric motors 8 and rear end linear electric motors 9 are topworkies of pipe robot walking outside among the figure; Physical construction 10 is divided into front vehicle body and two parts of aftercarriage; The front and back car body is connected by new line steering wheel 5; New line steering wheel 5 can driving device structure 10 front end make front vehicle body lift and fall also can driving device structure 10 the rear end aftercarriage lifted and fall; Front end walking steering wheel group 6 is positioned at the front end of physical construction 10; Is made up of left front walking steering wheel 14 and right front walking steering wheel 15, the front end that they can driving device structure 10 moves ahead front vehicle body or retreats, and the rear end steering wheel group 7 of walking is positioned at the rear end of physical construction 10; Form with right back walking steering wheel 17 by left back walking steering wheel 16; They can driving device structure 10 the rear end aftercarriage moved ahead or retreat, the front end clamping pipe that front end linear electric motors 8 can driving device structure 10 or unclamp pipeline makes the pipe robot walking outside show as the front end clamping pipe or unclamp pipeline; Rear end linear electric motors 9 can driving device structure 10 the rear end clamping pipe or unclamp pipeline, make the pipe robot walking outside show as the rear end clamping pipe or unclamp pipeline;
With reference to accompanying drawing, the method for work of the control system of aforementioned tube robot walking outside is described:
1, portable wireless monitor terminal and pipe robot walking outside are taked the full-duplex communication mode; The image scene that the portable wireless monitor terminal photographs through touch-screen 12 former and later two cameras of monitor tube robot walking outside with send steering order and give embedded monitoring machine 11, steering order comprises " front end advances ", " the front end advance and retreat stop ", " front end is retreated ", " advancing in the rear end ", " the rear end advance and retreat stop ", " rear end is retreated ", " integral body is advanced ", " whole advance and retreat stop ", " integral body is retreated ", " front end clampings ", " the front end degree of tightness stops ", " front end unclamps ", " rear end clampings ", " the rear end degree of tightness stops ", " unclamp the rear end ", " anticlockwise ", " rotation stops ", " right rotation ", " new line ", " lifting bows stops ", " bowing " " anticlockwise of front end camera ", " the front end camera rotates and stops ", " right rotation of front end camera ", " front end camera new line ", " the front end camera is lifted to bow and stopped ", " the front end camera is bowed ", " rear end camera anticlockwise ", " the rear end camera rotates and stops ", " rear end camera right rotation ", " rear end camera new line ", " the rear end camera is lifted to bow and stopped ", " the rear end camera is bowed " etc.The touch-screen 12 of portable wireless monitor terminal sends steering order and exports to embedded monitoring machine 11, and embedded monitoring machine 11 is transmitted to the pipe robot walking outside with steering order through wireless transceiver 13;
2, the steering order of sending from the portable wireless monitor terminal that receives of the embedded main control computer 1 real-time listening wireless transceiver 4 of pipe robot walking outside.When the steering order that listens to was " front end advances ", " the front end advance and retreat stop " or " front end is retreated ", left front walking steering wheel 14 rotated forward simultaneously, stops operating simultaneously or rotate backward simultaneously with right front walking steering wheel 15; When the steering order that listens to was " advancing in the rear end ", " the rear end advance and retreat stop " or " rear end is retreated ", left back walking steering wheel 16 rotated forward simultaneously, stops operating simultaneously or rotate backward simultaneously with right back walking steering wheel 17; When the steering order that listens to was " integral body is advanced ", " whole advance and retreat stop " or " integral body is retreated ", left front walking steering wheel 14, right front walking steering wheel 15, left back walking steering wheel 16 and right back walking steering wheel 17 rotated forward, stop simultaneously or rotate backward simultaneously simultaneously; When the steering order that listens to was " front end clamping ", " the front end degree of tightness stops " or " front end unclamps ", physical construction 10 clamping pipes, the front end linear electric motors 8 that front end linear electric motors 8 order about front end stopped operating or front end linear electric motors 8 order about physical construction 10 and unclamp pipeline; When the steering order that listens to was " rear end clamping ", " the rear end degree of tightness stops " or " unclamp the rear end ", physical construction 10 clamping pipes, the rear end linear electric motors 9 that rear end linear electric motors 9 order about the rear end stopped operating or rear end linear electric motors 9 order about physical construction 10 and unclamp pipeline; When the steering order that listens to is " anticlockwise "; Left front walking steering wheel 14 rotates forward, and right front walking steering wheel 15 rotates backward, and left back walking steering wheel 16 rotates backward; Right back walking steering wheel 17 rotates forward, and this moment, the pipe robot walking outside will be around pipeline to anticlockwise under the ordering about of steering wheel; When the steering order that listens to was " rotation stops ", four steering wheels stopped simultaneously; When the steering order that listens to is " right rotation "; Left front walking steering wheel 14 rotates backward, and right front walking steering wheel 15 rotates forward, and left back walking steering wheel 16 rotates forward; Right back walking steering wheel 17 rotates backward, and this moment, the pipe robot walking outside will be around pipeline to right rotation under the ordering about of steering wheel; When the steering order that listens to is " new line ", the angle of rear and front end that new line steering wheel 5 orders about the pipe robot walking outside by 180 degree to diminish direction motion of angle; When the steering order that listens to was " lifting bows stops ", new line steering wheel 5 stopped operating; When the steering order that listens to was " bowing ", the angle that new line steering wheel 5 orders about the rear and front end of pipe robot walking outside changed from small to big; When the steering order that listens to was " anticlockwise of front end camera ", the cradle head control camera of front end camera 2 was to anticlockwise; Same, when the steering order that listens to is the steering order of control cam movement, the cradle head control front end camera 2 of front end camera 2 or rear end camera 3 or rear end camera 3 left rotation and right rotation or lift and bow so that adjust shooting angle.
3, the image of the front end camera 2 that carries of embedded main control computer 1 real-time collection tube robot walking outside of pipe robot walking outside and 3 shootings of rear end camera and two picture groups are sent to the portable wireless monitor terminal through wireless transceiver 4 after as compressed encoding;
4, the wireless transceiver 13 of portable wireless monitor terminal receives two groups of sending of pipe robot walking outside through after the view data of compressed encoding; Be transferred to embedded monitoring machine 11 and decode, embedded monitoring machine 11 looks like decoded two picture groups of being taken by front end camera 2 and rear end camera 3 to be presented on the touch-screen 12;
5, through two groups of image scenes on the touch-screen 12 of observing the portable wireless monitor terminal can according to the reasonable layout steering order of actual conditions send that order can the control tube robot walking outside be accomplished multiple cast such as climbing straight tube, bend pipe, L shaped pipe, T shape pipe and cruciform pipe or around multiple-tasks such as pipeline left rotation and right rotation;
Specify below in conjunction with around the left-handed example that circles of pipeline method of work of the present invention being done through the on-the-spot pipe robot walking outside of portable wireless monitor terminal Long-distance Control:
1, supposes; The pipe robot walking outside has been placed on the on-the-spot pipeline and has held pipeline tightly; Send " anticlockwise " steering order through the touch-screen 12 of pushing the portable wireless monitor terminal this moment, and embedded monitoring machine 11 sends to the pipe robot walking outside with this steering order through wireless transceiver 13;
2, embedded main control computer 1 real-time listening of pipe robot walking outside is from the steering order of portable wireless monitor terminal.After the steering order that listens to " anticlockwise " of sending that receive by wireless transceiver 4 from the portable wireless monitor terminal; The left front walking steering wheel 14 of embedded main control computer 1 control rotates forward; Right front walking steering wheel 15 rotates backward; Left back walking steering wheel 16 rotates backward, and right back walking steering wheel 17 rotates forward, and this moment, the pipe robot walking outside will be around pipeline to anticlockwise under the ordering about of steering wheel;
3, the image at the pipe robot walking outside the place ahead taken of the front end camera 2 that carries of embedded main control computer 1 real-time collection tube robot walking outside and rear end camera 3 and rear and two picture groups are sent to the portable wireless monitor terminal through wireless transceiver 4 after as compressed encoding;
4, the wireless transceiver 13 of portable wireless monitor terminal receives two groups of sending of pipe robot walking outside through after the view data of compressed encoding; Be transferred to embedded monitoring machine 11 and decode, embedded monitoring machine 11 looks like decoded two picture groups of being taken by front end camera 2 and rear end camera 3 to be presented on the touch-screen 12;
5, two groups of image scenes on the touch-screen 12 of observation portable wireless monitor terminal confirm that the pipe robot walking outsides have centered on the pipeline anticlockwise after one week; Send the steering order of " rotation stops " through touch-screen 12; Embedded monitoring machine 11 sends to the pipe robot walking outside with this steering order through wireless transceiver 13; After the embedded main control computer 1 of pipe robot walking outside listens to the steering order of " rotation stops " of sending from the portable wireless monitor terminal that received by wireless transceiver 4; Control left front walking steering wheel 14, right front walking steering wheel 15, left back walking steering wheel 16 and right back walking steering wheel 17 they are stopped operating, manage robot walking outside and under the monitoring of portable wireless monitor terminal, accomplished rotating a circle around pipeline of task this moment;
So far, the portable wireless monitor terminal has been accomplished the task that the control tube robot walking outside rotates a circle around pipeline.Multiple casts such as climbing straight tube, bend pipe, L shaped pipe, T shape pipe and cruciform pipe can be accomplished through sending of rational organizational controls instruction in proper order, and pipeline anticlockwise or right rotation can be centered on.
The content of not describing in detail in the instructions of the present invention belongs to this area professional and technical personnel's known prior art or theory.
Claims (2)
1. control system of managing robot walking outside; It is characterized in that it is by being installed in front end camera on the pipe robot walking outside fuselage, rear end camera, wireless transceiver, embedded main control computer and being made up of the portable wireless monitor terminal of staff's straighforward operation; Wherein
Described front end camera is a kind of camera of band cloud platform, can regulate and control it arbitrarily and take direction, is positioned at the front end of pipe robot walking outside, is used for the image of floor; The rear end camera also is a kind of camera of band cloud platform, can regulate and control it arbitrarily and take direction, is positioned at the rear end of pipe robot walking outside, is used for the image of floor;
Described wireless transceiver is connected to form by wifi module, power module and antenna; Wireless transceiver is used to accept the steering order that emission comes from the portable wireless monitor terminal, also can be used for the image that photographs to portable wireless monitor terminal front end of emission camera and rear end camera;
Described embedded main control computer is connected to form by CPU, data memory module, power management module, network control module, USB control module, serial ports control module, motor drive module; Aforesaid front end camera is connected with embedded main control computer through USB interface with the rear end camera, and the The Cloud Terrace of front end camera and rear end camera all passes through serial ports and is connected with embedded main control computer; The new line steering wheel of pipe robot walking outside is connected with embedded main control computer through serial ports; The left front walking steering wheel of pipe robot walking outside, right front walking steering wheel, left back walking steering wheel, right back walking steering wheel are connected with embedded main control computer through serial ports; The front and back linear electric motors of pipe robot walking outside are driven by the motor-drive circuit of embedded main control computer; Wireless transceiver also is connected with embedded main control computer through USB interface; The steering order of sending from the portable wireless monitor terminal that embedded main control computer is used for that the real-time listening wireless transceiver receives; And according to the new line steering wheel of the steering order control tube robot walking outside that listens to, all walking steering wheels, the action of front and back linear electric motors; And the image that photographs of acquisition front end camera and rear end camera, output to wireless transceiver behind the compressed encoding and send to the portable wireless monitor terminal;
Described portable wireless monitor terminal is connected to form by touch-screen, wireless transceiver and embedded monitoring machine; Wherein:
Described touch-screen plays the effect of keyboard and display simultaneously, be used for the display monitoring image with send steering order;
Described wireless transceiver is connected to form by wifi module, power module and antenna, can be used to accept the image scene from the shooting of pipe robot walking outside, also can be used for to pipe robot walking outside emission control instruction; It is connected with the embedded monitoring machine through USB interface;
Described embedded monitoring machine is the master controller of portable wireless monitor terminal; Connect to form by CPU, power management module, data memory module, display screen control module and USB control module; Can the steering order that touch-screen sends be outputed to wireless transceiver and send to the pipe robot walking outside, be presented on the touch-screen after the image scene decoding that photographs by the pipe robot walking outside that also can wireless transceiver be received.
2. the method for work of control system as claimed in claim 1 is characterized in that,
The first step: the portable wireless monitor terminal is taked the full-duplex communication mode with the pipe robot walking outside; The image scene that the portable wireless monitor terminal photographs through former and later two cameras of touch-screen monitor tube robot walking outside with send steering order and give the embedded monitoring machine, steering order comprises " front end advances ", " the front end advance and retreat stop ", " 1 moves back behind the front end ", " advancing in the rear end ", " the rear end advance and retreat stop ", " rear end is retreated ", " integral body is advanced ", " whole advance and retreat stop ", " integral body is retreated ", " front end clampings ", " the front end degree of tightness stops ", " front end unclamps ", " rear end clampings ", " the rear end degree of tightness stops ", " unclamp the rear end ", " anticlockwise ", " rotation stops ", " right rotation ", " new line ", " lifting bows stops ", " bowing ", " anticlockwise of front end camera ", " the front end camera rotates and stops ", " right rotation of front end camera ", " front end camera new line ", " the front end camera is lifted to bow and stopped ", " the front end camera is bowed ", " rear end camera anticlockwise ", " the rear end camera rotates and stops ", " rear end camera right rotation ", " rear end camera new line ", " the rear end camera is lifted to bow and stopped ", " the rear end camera is bowed "; The touch-screen of portable wireless monitor terminal sends steering order and exports to the embedded monitoring machine, and the embedded monitoring machine is transmitted to the pipe robot walking outside with steering order through wireless transceiver;
Second step: the steering order of sending from the portable wireless monitor terminal that the embedded main control computer real-time listening wireless transceiver of pipe robot walking outside receives; When the steering order that listens to was " front end advances ", " the front end advance and retreat stop " or " front end is retreated ", left front walking steering wheel and right front walking steering wheel rotated forward simultaneously, stop operating simultaneously or rotate backward simultaneously; When the steering order that listens to was " advancing in the rear end ", " the rear end advance and retreat stop " or " rear end is retreated ", left back walking steering wheel and right back walking steering wheel rotated forward simultaneously, stop operating simultaneously or rotate backward simultaneously; When the steering order that listens to was " integral body is advanced ", " whole advance and retreat stop " or " integral body is retreated ", left front walking steering wheel, right front walking steering wheel, left back walking steering wheel and right back walking steering wheel rotated forward simultaneously, stop simultaneously or rotate backward simultaneously; When the steering order that listens to was " front end clamping ", " the front end degree of tightness stops " or " front end unclamps ", physical construction clamping pipe, the front end linear electric motors that the front end linear electric motors order about front end stopped operating or the front end linear electric motors order about physical construction and unclamp pipeline; When the steering order that listens to was " rear end clamping ", " the rear end degree of tightness stops " or " unclamp the rear end ", physical construction clamping pipe, the rear end linear electric motors that the rear end linear electric motors order about the rear end stopped operating or the rear end linear electric motors order about physical construction and unclamp pipeline; When the steering order that listens to is " anticlockwise "; Left front walking steering wheel rotates forward, and right front walking steering wheel rotates backward, and left back walking steering wheel rotates backward; Right back walking steering wheel rotates forward, and this moment, the pipe robot walking outside will be around pipeline to anticlockwise under the ordering about of steering wheel; When the steering order that listens to was " rotation stops ", four steering wheels stopped simultaneously; When the steering order that listens to is " right rotation "; Left front walking steering wheel rotates backward, and right front walking steering wheel rotates forward, and left back walking steering wheel rotates forward; Right back walking steering wheel rotates backward, and this moment, the pipe robot walking outside will be around pipeline to right rotation under the ordering about of steering wheel; When the steering order that listens to is " new line ", the angle of rear and front end that the new line steering wheel orders about the pipe robot walking outside by 180 degree to diminish direction motion of angle; When the steering order that listens to was " lifting bows stops ", the new line steering wheel stopped operating; When the steering order that listens to was " bowing ", the angle that the new line steering wheel orders about the rear and front end of pipe robot walking outside changed from small to big; When the steering order that listens to was " anticlockwise of front end camera ", the cradle head control camera of front end camera was to anticlockwise; Same, when the steering order that listens to is the steering order of control cam movement, the cradle head control front end camera of front end camera or rear end camera or rear end camera left rotation and right rotation or lift and bow so that adjust shooting angle;
The 3rd step: the image of the front end camera that carries of the real-time collection tube robot walking outside of embedded main control computer of pipe robot walking outside and the shooting of rear end camera also sends to portable wireless monitor terminal through wireless transceiver with two picture groups after as compressed encoding;
The 4th step: the wireless transceiver of portable wireless monitor terminal receives two groups of sending of pipe robot walking outside through after the view data of compressed encoding; Be transferred to the embedded monitoring machine and decode, the embedded monitoring machine looks like to be presented at decoded two picture groups of being taken by front end camera and rear end camera on the touch-screen;
The 5th step: can accomplish climbing straight tube, bend pipe, L shaped pipe, T shape pipe and the multiple cast of cruciform pipe or center on pipeline left rotation and right rotation multiple-task by the control tube robot walking outside according to the order of sending of the reasonable layout steering order of actual conditions through two groups of image scenes on the touch-screen of observation portable wireless monitor terminal.
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| CN201210168869.8A CN102707720B (en) | 2012-05-19 | 2012-05-19 | Control system and working method of robot walking outside pipes |
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| CN201210168869.8A CN102707720B (en) | 2012-05-19 | 2012-05-19 | Control system and working method of robot walking outside pipes |
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| CN102707720B (en) | 2014-10-29 |
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