CN102707720B - 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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- CN102707720B CN102707720B CN201210168869.8A CN201210168869A CN102707720B CN 102707720 B CN102707720 B CN 102707720B CN 201210168869 A CN201210168869 A CN 201210168869A CN 102707720 B CN102707720 B CN 102707720B
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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 use manual method, not only expends a large amount of man power and materials, efficiency is low, poor stability, and also many occasions cannot allow manual work at all.
At present, also there are report or the patent of some pipe robot walking outside researchs.On pipeline external surface, the robot of operation generally adopts creeping motion type, spiral, tumbling-type, replace the multiple move modes such as climb type, but they often have the limitation of some application, as, their majorities all can only not possess the function of turn-taking around pipe along the walking of pipeline direction, have can not crossing pipeline on obstacle, a kind of pipeline conditions that is only suitable for climbing vertical rod or horizon bar having, what have even can not be continuous, equably through piping outside surface everywhere, like this, they just can not meet some need carry out to the pipeline external surface of various attitudes the requirement of continuous detecting or maintenance.
For this reason, 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, and it saves car body by front and back 2 and forms, and 2 joint car bodies are connected together through a hinge by 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, relatively swinging up and down between 2 joint car bodies before and after realizing under the driving of steering wheel;
The structure that car body is saved in described front and back 2 is identical, and the structure of car body is, back and front supporting wheel is installed on bottom center's axis of body framework, in the both sides, bottom surface of body framework, holding tube travel mechanism is installed;
The structure of described holding tube travel mechanism is, on body framework, fixedly mount a straight-line electric body, the core of straight-line electric body is a screw shaft, screw shaft and body framework vertical relation, the bottom of screw shaft is installed with driving-disc, and driving-disc top puts connecting rod rest, symmetrical hinged 2 connecting rods on 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 body framework separately; The walking roller that walking steering wheel drives is installed on rolling wheel support; The installation axis symmetries of the walking roller of front and back 2 joint car bodies are splayed and arrange, the installation axis of the left and right walking roller of every joint car body is splayed and arranges, while moving under straight-line electric body screw axial, connecting rod rest promotes 2 connecting rods and outwards opens, and then promotion left and right walking roller support outwards opens, make roller throw off pipeline, otherwise left and right walking roller support inwardly closes up, and makes roller embrace steel pipe, and holding tube walking under walking steering wheel drives, to realize the front and back operation of car body.
Although applicant discloses pipe robot walking outside physical construction, its control system is not also disclosed.
Summary of the invention
The object of the invention is openly 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 by this system.
Technical scheme of the present invention is:
A control system for pipe robot walking outside, it is made up of the front end camera, rear end camera, wireless transceiver, embedded main control computer and the portable wireless monitor terminal by staff's straighforward operation that are arranged on pipe robot walking outside fuselage; Wherein
Described front end camera is a kind of camera with The Cloud Terrace, can regulate and control arbitrarily it and take direction, is positioned at the front end of pipe robot walking outside, for the image of floor; Rear end camera is also a kind of camera with The Cloud Terrace, can regulate and control arbitrarily it and take direction, is positioned at the rear end of pipe robot walking outside, for the image of floor;
Described wireless transceiver is connected to form by wifi module, power module and antenna; The steering order of wireless transceiver for accepting to come from portable wireless monitor terminal transmitting, also can be for the image photographing 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 by USB interface with rear end camera, and the The Cloud Terrace of front end camera and rear end camera is all connected with embedded main control computer by serial ports; The new line steering wheel of pipe robot walking outside is connected with embedded main control computer by 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 by 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 is also connected with embedded main control computer by USB interface; The steering order of sending from portable wireless monitor terminal that embedded main control computer receives for real-time listening wireless transceiver, and according to the new line steering wheel of the steering order control tube robot walking outside listening to, all walking steering wheels, the action of front and back linear electric motors, and gather the image that front end camera and rear end camera photograph, after compressed encoding, output to wireless transceiver and send to 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, is used for display monitoring image and send steering order;
Described wireless transceiver is connected to form by wifi module, power module and antenna, can be for the image scene of accepting to take from pipe robot walking outside, and also can be for to pipe robot walking outside emission control instruction; It is connected with embedded monitoring machine by USB interface;
Described embedded monitoring machine is the master controller of portable wireless monitor terminal, connected to form by CPU, power management module, data memory module, display screen control module and USB control module, the steering order that touch-screen can be sent outputs to wireless transceiver and sends to pipe robot walking outside, after the image scene the being photographed decoding that also wireless transceiver can be received, is presented on touch-screen by pipe robot walking outside.
Two, the method for work of the control system of above-mentioned pipe robot walking outside is:
1, portable wireless monitor terminal and pipe robot walking outside are taked full-duplex communication mode, the image scene that portable wireless monitor terminal photographs by former and later two cameras of touch-screen monitor tube robot walking outside and send steering order to embedded monitoring machine, steering order comprises " front end advances ", " front end advance and retreat stop ", " front end retreats ", " advancing in rear end ", " rear end advance and retreat stop ", " rear end retreats ", " entirety is advanced ", " entirety advance and retreat stop ", " entirety retreats ", " front end clamping ", " front end degree of tightness stops ", " front end unclamps ", " rear end clamping ", " rear end degree of tightness stops ", " unclamp rear end ", " anticlockwise ", " rotation stops ", " right rotation ", " new line ", " lifting bows stops ", " bow ", " anticlockwise of front end camera ", " rotation of front end camera stops ", " right rotation of front end camera ", " front end camera new line ", " front end camera is lifted to bow and is stopped ", " front end camera is bowed ", " rear end camera anticlockwise ", " camera rotation in rear end stops ", " rear end camera right rotation ", " rear end camera new line ", " rear end camera is lifted to bow and is stopped ", " rear end camera is bowed " etc.The touch-screen of portable wireless monitor terminal sends steering order and exports to embedded monitoring machine, and embedded monitoring machine is transmitted to pipe robot walking outside by steering order by wireless transceiver;
2, the steering order of sending from portable wireless monitor terminal that the embedded main control computer real-time listening wireless transceiver of pipe robot walking outside receives; In the time that the steering order listening to is " front end advances ", " front end advance and retreat stop " or " front end retreats ", left front walking steering wheel and right front walking steering wheel rotate forward simultaneously, stop operating or rotate backward simultaneously simultaneously; In the time that the steering order listening to is " advancing in rear end ", " rear end advance and retreat stop " or " rear end retreats ", left back walking steering wheel and right back walking steering wheel rotate forward simultaneously, stop operating or rotate backward simultaneously simultaneously; In the time that the steering order listening to is " entirety is advanced ", " entirety advance and retreat stop " or " entirety retreats ", left front walking steering wheel, right front walking steering wheel, left back walking steering wheel and right back walking steering wheel rotate forward simultaneously, stop simultaneously or rotate backward simultaneously; In the time that the steering order listening to is " front end clamping ", " front end degree of tightness stops " or " front end unclamps ", physical construction clamping pipe, the front end linear electric motors that front end linear electric motors order about front end stop operating or front end linear electric motors order about physical construction and unclamp pipeline; In the time that the steering order listening to is " rear end clamping ", " rear end degree of tightness stops " or " unclamp rear end ", physical construction clamping pipe, the rear end linear electric motors that rear end linear electric motors order about rear end stop operating or rear end linear electric motors order about physical construction and unclamp pipeline; In the time that the steering order listening 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 now under the ordering about of steering wheel, pipe robot walking outside will be around pipeline to anticlockwise; In the time that the steering order listening to is " rotation stops ", four steering wheels stop simultaneously; In the time that the steering order listening 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 now under the ordering about of steering wheel, pipe robot walking outside will be around pipeline to right rotation; In the time that the steering order listening to is " new line ", the angle of rear and front end that new line steering wheel orders about pipe robot walking outside by 180 degree to diminish direction motion of angle; In the time that the steering order listening to is " lifting bows stops ", new line steering wheel stops operating; In the time that the steering order listening to is " bowing ", the angle that new line steering wheel orders about the rear and front end of pipe robot walking outside changes from small to big; In the time that the steering order listening to is " anticlockwise of front end camera ", the cradle head control camera of front end camera is to anticlockwise; Same, when the steering order listening to is while controlling the steering order of 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 to adjust shooting angle;
3, the image that the front end camera that the embedded main control computer Real-time Collection pipe robot walking outside of pipe robot walking outside carries and rear end camera are taken also will send to portable wireless monitor terminal by wireless transceiver after two groups of image compression encodings;
4, the wireless transceiver of portable wireless monitor terminal receive that pipe robot walking outside sends two groups is after the view data of compressed encoding, be transferred to embedded monitoring machine and decode, embedded monitoring machine is presented at decoded two groups of images being taken by front end camera and rear end camera on touch-screen;
5, can control tube robot walking outside complete the multiple casts 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 according to the order of sending of the reasonable layout steering order of actual conditions by observing two groups of image scenes on the touch-screen of portable wireless monitor terminal.
Good effect of the present invention is, adopt radio communication avoided circuit restriction and can pinnacled pipeline in or in complicated pipeline environment, climb multiple casts such as straight tube, bend pipe, T shape pipe or cruciform pipe and can be around pipeline left rotation and right rotation; Can in some pipeline invisible to the human eye, climb especially multiple casts such as straight tube, bend pipe, T shape pipe or cruciform pipe and can be around pipeline left rotation and right rotation by camera head monitor; Pipe robot walking outside can carry detection device, paint spraying outfit or burnisher etc., so just can meet outside continuous detecting to pipeline and various cylinder workpiece, maintenance, reparation or clean etc. application needs.
Brief description of the drawings
Fig. 1 is portable wireless monitor terminal theory diagram of the present invention;
Fig. 2 is pipe robot walking outside control principle block diagram of the present invention.
In 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
As shown in Figure 1, 2, a control system for pipe robot walking outside, it is made up of the front end camera 1, rear end camera 2, wireless transceiver 4, embedded main control computer 1 and the portable wireless monitor terminal by staff's straighforward operation that are arranged on pipe robot walking outside fuselage; Wherein
Described front end camera 2 is a kind of cameras with The Cloud Terrace, can regulate and control arbitrarily it and take direction, is positioned at the front end of pipe robot walking outside, for the image of floor; Rear end camera 3 is also a kind of camera with The Cloud Terrace, can regulate and control arbitrarily it and take direction, is positioned at the rear end of pipe robot walking outside, for the image of floor;
Described wireless transceiver 4 is connected to form by wifi module, power module and antenna; The steering order of wireless transceiver 4 for accepting to come from portable wireless monitor terminal transmitting, also can be for the image photographing 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 by USB interface with rear end camera 3, and the The Cloud Terrace of front end camera 2 and rear end camera 3 is all connected with embedded main control computer 1 by serial ports; New line steering wheel 5 is connected with embedded main control computer 1 by 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 by serial ports; Front and back ends linear electric motors 8 and 9 are driven by the motor drive module of embedded main control computer 1; Wireless transceiver 4 is also connected 1 by USB interface with embedded main control computer; The steering order of sending from portable wireless monitor terminal that embedded main control computer 1 receives for real-time listening wireless transceiver 4, and according to the new line steering wheel 5 of the steering order control tube robot walking outside listening to, all walking steering wheels 14/15/16/17 and 8 and 9 actions of forward and backward straight end line motor, and gather the image that front end camera 2 and rear end camera 3 photograph, after compressed encoding, output to wireless transceiver 4 and send to 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, is used for display monitoring image and send steering order;
Described wireless transceiver 13 is connected to form by wifi module, power module and antenna, can be for the image scene of accepting to take from pipe robot walking outside, and also can be for to pipe robot walking outside emission control instruction; It is connected with embedded monitoring machine 11 by 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; The steering order that it can send touch-screen 12 outputs to wireless launcher 13 and sends to pipe robot walking outside, after the image scene the being photographed decoding that also wireless transceiver 13 can be received, is presented on touch-screen by pipe robot walking outside.
In Fig. 2, also show the physical construction block diagram of pipe robot walking outside, steering wheel 5 comes back in figure, 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, physical construction 10 is divided into front vehicle body and two parts of aftercarriage, front and back car body is connected by the steering wheel 5 that comes back, 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 rear end aftercarriage is lifted and falls, front end walking steering wheel group 6 is positioned at the front end of physical construction 10, formed by left front walking steering wheel 14 and right front walking steering wheel 15, they can driving device structure 10 front end front vehicle body is moved ahead or retreats, rear end walking steering wheel group 7 is positioned at the rear end of physical construction 10, formed by left back walking steering wheel 16 and right back walking steering wheel 17, they can driving device structure 10 rear end aftercarriage is moved ahead or retreats, front end linear electric motors 8 can driving device structure 10 front end clamping pipe or unclamp pipeline, make pipe robot walking outside show as front end clamping pipe or unclamp pipeline, rear end linear electric motors 9 can driving device structure 10 rear end clamping pipe or unclamp pipeline, make pipe robot walking outside show as rear end clamping pipe or unclamp pipeline,
With reference to accompanying drawing, the method for work of the control system to above-mentioned pipe robot walking outside is described:
1, portable wireless monitor terminal and pipe robot walking outside are taked full-duplex communication mode, the image scene that portable wireless monitor terminal photographs by touch-screen 12 former and later two cameras of monitor tube robot walking outside and send steering order to embedded monitoring machine 11, steering order comprises " front end advances ", " front end advance and retreat stop ", " front end retreats ", " advancing in rear end ", " rear end advance and retreat stop ", " rear end retreats ", " entirety is advanced ", " entirety advance and retreat stop ", " entirety retreats ", " front end clamping ", " front end degree of tightness stops ", " front end unclamps ", " rear end clamping ", " rear end degree of tightness stops ", " unclamp rear end ", " anticlockwise ", " rotation stops ", " right rotation ", " new line ", " lifting bows stops ", " bow " " anticlockwise of front end camera ", " rotation of front end camera stops ", " right rotation of front end camera ", " front end camera new line ", " front end camera is lifted to bow and is stopped ", " front end camera is bowed ", " rear end camera anticlockwise ", " camera rotation in rear end stops ", " rear end camera right rotation ", " rear end camera new line ", " rear end camera is lifted to bow and is stopped ", " 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 pipe robot walking outside by steering order by wireless transceiver 13;
2, the steering order of sending from portable wireless monitor terminal that the embedded main control computer 1 real-time listening wireless transceiver 4 of pipe robot walking outside receives.In the time that the steering order listening to is " front end advances ", " front end advance and retreat stop " or " front end retreats ", left front walking steering wheel 14 and right front walking steering wheel 15 rotate forward simultaneously, stop operating or rotate backward simultaneously simultaneously; In the time that the steering order listening to is " advancing in rear end ", " rear end advance and retreat stop " or " rear end retreats ", left back walking steering wheel 16 and right back walking steering wheel 17 rotate forward simultaneously, stop operating or rotate backward simultaneously simultaneously; In the time that the steering order listening to is " entirety is advanced ", " entirety advance and retreat stop " or " entirety retreats ", 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 rotate forward simultaneously, stop simultaneously or rotate backward simultaneously; In the time that the steering order listening to is " front end clamping ", " 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 stop operating or front end linear electric motors 8 order about physical construction 10 and unclamp pipeline; In the time that the steering order listening to is " rear end clamping ", " rear end degree of tightness stops " or " unclamp rear end ", physical construction 10 clamping pipes, the rear end linear electric motors 9 that rear end linear electric motors 9 order about rear end stop operating or rear end linear electric motors 9 order about physical construction 10 and unclamp pipeline; In the time that the steering order listening 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 now under the ordering about of steering wheel, pipe robot walking outside will be around pipeline to anticlockwise; In the time that the steering order listening to is " rotation stops ", four steering wheels stop simultaneously; In the time that the steering order listening 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 now under the ordering about of steering wheel, pipe robot walking outside will be around pipeline to right rotation; In the time that the steering order listening to is " new line ", the angle of rear and front end that new line steering wheel 5 orders about pipe robot walking outside by 180 degree to diminish direction motion of angle; In the time that the steering order listening to is " lifting bows stops ", new line steering wheel 5 stops operating; In the time that the steering order listening to is " bowing ", the angle that new line steering wheel 5 orders about the rear and front end of pipe robot walking outside changes from small to big; In the time that the steering order listening to is " anticlockwise of front end camera ", the cradle head control camera of front end camera 2 is to anticlockwise; Same, when the steering order listening to is while controlling the steering order of 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 to adjust shooting angle.
3, the image that the front end camera 2 that the embedded main control computer 1 Real-time Collection pipe robot walking outside of pipe robot walking outside carries and rear end camera 3 are taken also will send to portable wireless monitor terminal by wireless transceiver 4 after two groups of image compression encodings;
4, the wireless transceiver 13 of portable wireless monitor terminal receive that pipe robot walking outside sends two groups is after the view data of compressed encoding, be transferred to embedded monitoring machine 11 and decode, embedded monitoring machine 11 is presented at decoded two groups of images being taken by front end camera 2 and rear end camera 3 on touch-screen 12;
5, can control tube robot walking outside complete the multiple casts 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 according to the order of sending of the reasonable layout steering order of actual conditions by observing two groups of image scenes on the touch-screen 12 of portable wireless monitor terminal;
Method of work of the present invention is illustrated around the left-handed example circling of pipeline below in conjunction with the pipe robot walking outside by portable wireless monitor terminal Long-distance Control scene:
1, suppose, pipe robot walking outside has been placed on on-the-spot pipeline and has held pipeline tightly, now send " anticlockwise " steering order by pressing the touch-screen 12 of portable wireless monitor terminal, embedded monitoring machine 11 sends to pipe robot walking outside by this steering order by 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.When listening to after the steering order of " anticlockwise " of sending from portable wireless monitor terminal that received by wireless transceiver 4, embedded main control computer 1 is controlled left front walking steering wheel 14 and is rotated forward, right front walking steering wheel 15 rotates backward, left back walking steering wheel 16 rotates backward, right back walking steering wheel 17 rotates forward, and now under the ordering about of steering wheel, pipe robot walking outside will be around pipeline to anticlockwise;
3, the pipe robot walking outside front that the front end camera 2 that embedded main control computer 1 Real-time Collection pipe robot walking outside carries and rear end camera 3 are taken and the image at rear also will send to portable wireless monitor terminal by wireless transceiver 4 after two groups of image compression encodings;
4, the wireless transceiver 13 of portable wireless monitor terminal receive that pipe robot walking outside sends two groups is after the view data of compressed encoding, be transferred to embedded monitoring machine 11 and decode, embedded monitoring machine 11 is presented at decoded two groups of images being taken by front end camera 2 and rear end camera 3 on touch-screen 12;
5, observe two groups of image scenes on the touch-screen 12 of portable wireless monitor terminal confirm pipe robot walking outsides around pipeline anticlockwise after one week, send the steering order of " rotation stops " by touch-screen 12, embedded monitoring machine 11 sends to pipe robot walking outside by this steering order by wireless transceiver 13, when the embedded main control computer 1 of pipe robot walking outside listens to after the steering order of " rotation stops " of sending from 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 stop operating them, now pipe robot walking outside has completed rotating a circle around pipeline of task under the monitoring of portable wireless monitor terminal,
So far, portable wireless monitor terminal has completed the task that control tube robot walking outside rotates a circle around pipeline.Sequentially can complete the multiple casts such as climbing straight tube, bend pipe, L shaped pipe, T shape pipe and cruciform pipe by sending of rational organizational controls instruction, and can be around pipeline anticlockwise or right rotation.
The content of not describing in detail in instructions of the present invention belongs to the known prior art of professional and technical personnel in the field or theory.
Claims (2)
1. the control system of a pipe robot walking outside, it is characterized in that, it is made up of the front end camera, rear end camera, wireless transceiver, embedded main control computer and the portable wireless monitor terminal by staff's straighforward operation that are arranged on pipe robot walking outside fuselage; Wherein
Described front end camera is a kind of camera with The Cloud Terrace, can regulate and control arbitrarily it and take direction, is positioned at the front end of pipe robot walking outside, for the image of floor; Rear end camera is also a kind of camera with The Cloud Terrace, can regulate and control arbitrarily it and take direction, is positioned at the rear end of pipe robot walking outside, for the image of floor;
Described wireless transceiver is connected to form by wifi module, power module and antenna; The steering order of wireless transceiver for accepting to come from portable wireless monitor terminal transmitting, also can be used in the image photographing 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 by USB interface with rear end camera, and the The Cloud Terrace of front end camera and rear end camera is all connected with embedded main control computer by serial ports; The new line steering wheel of pipe robot walking outside is connected with embedded main control computer by 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 by 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 is also connected with embedded main control computer by USB interface; The steering order of sending from portable wireless monitor terminal that embedded main control computer receives for real-time listening wireless transceiver, and according to the new line steering wheel of the steering order control tube robot walking outside listening to, all walking steering wheels, the action of front and back linear electric motors, and gather the image that front end camera and rear end camera photograph, after compressed encoding, output to wireless transceiver and send to 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, is used for display monitoring image and send steering order;
Described wireless transceiver is connected to form by wifi module, power module and antenna, can be used in the image scene of accepting from the shooting of pipe robot walking outside, also can be used in to pipe robot walking outside emission control instruction; It is connected with embedded monitoring machine by USB interface;
Described embedded monitoring machine is the master controller of portable wireless monitor terminal, connected to form by CPU, power management module, data memory module, display screen control module and USB control module, the steering order that touch-screen can be sent outputs to wireless transceiver and sends to pipe robot walking outside, after the image scene the being photographed decoding that also wireless transceiver can be received, is presented on touch-screen by pipe robot walking outside.
2. the method for work of control system as claimed in claim 1, is characterized in that,
The first step: portable wireless monitor terminal and pipe robot walking outside are taked full-duplex communication mode, the image scene that portable wireless monitor terminal photographs by former and later two cameras of touch-screen monitor tube robot walking outside and send steering order to embedded monitoring machine, steering order comprises " front end advances ", " front end advance and retreat stop ", " front end retreats ", " advancing in rear end ", " rear end advance and retreat stop ", " rear end retreats ", " entirety is advanced ", " entirety advance and retreat stop ", " entirety retreats ", " front end clamping ", " front end degree of tightness stops ", " front end unclamps ", " rear end clamping ", " rear end degree of tightness stops ", " unclamp rear end ", " anticlockwise ", " rotation stops ", " right rotation ", " new line ", " lifting bows stops ", " bow ", " anticlockwise of front end camera ", " rotation of front end camera stops ", " right rotation of front end camera ", " front end camera new line ", " front end camera is lifted to bow and is stopped ", " front end camera is bowed ", " rear end camera anticlockwise ", " camera rotation in rear end stops ", " rear end camera right rotation ", " rear end camera new line ", " rear end camera is lifted to bow and is stopped ", " rear end camera is bowed ", the touch-screen of portable wireless monitor terminal sends steering order and exports to embedded monitoring machine, and embedded monitoring machine is transmitted to pipe robot walking outside by steering order by wireless transceiver,
Second step: the steering order of sending from portable wireless monitor terminal that the embedded main control computer real-time listening wireless transceiver of pipe robot walking outside receives; In the time that the steering order listening to is " front end advances ", " front end advance and retreat stop " or " front end retreats ", left front walking steering wheel and right front walking steering wheel rotate forward simultaneously, stop operating or rotate backward simultaneously simultaneously; In the time that the steering order listening to is " advancing in rear end ", " rear end advance and retreat stop " or " rear end retreats ", left back walking steering wheel and right back walking steering wheel rotate forward simultaneously, stop operating or rotate backward simultaneously simultaneously; In the time that the steering order listening to is " entirety is advanced ", " entirety advance and retreat stop " or " entirety retreats ", left front walking steering wheel, right front walking steering wheel, left back walking steering wheel and right back walking steering wheel rotate forward simultaneously, stop simultaneously or rotate backward simultaneously; In the time that the steering order listening to is " front end clamping ", " front end degree of tightness stops " or " front end unclamps ", physical construction clamping pipe, the front end linear electric motors that front end linear electric motors order about front end stop operating or front end linear electric motors order about physical construction and unclamp pipeline; In the time that the steering order listening to is " rear end clamping ", " rear end degree of tightness stops " or " unclamp rear end ", physical construction clamping pipe, the rear end linear electric motors that rear end linear electric motors order about rear end stop operating or rear end linear electric motors order about physical construction and unclamp pipeline; In the time that the steering order listening 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 now under the ordering about of steering wheel, pipe robot walking outside will be around pipeline to anticlockwise; In the time that the steering order listening to is " rotation stops ", four steering wheels stop simultaneously; In the time that the steering order listening 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 now under the ordering about of steering wheel, pipe robot walking outside will be around pipeline to right rotation; In the time that the steering order listening to is " new line ", the angle of rear and front end that new line steering wheel orders about pipe robot walking outside by 180 degree to diminish direction motion of angle; In the time that the steering order listening to is " lifting bows stops ", new line steering wheel stops operating; In the time that the steering order listening to is " bowing ", the angle that new line steering wheel orders about the rear and front end of pipe robot walking outside changes from small to big; In the time that the steering order listening to is " anticlockwise of front end camera ", the cradle head control camera of front end camera is to anticlockwise; Same, when the steering order listening to is while controlling the steering order of 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 to adjust shooting angle;
The 3rd step: the image that the front end camera that the embedded main control computer Real-time Collection pipe robot walking outside of pipe robot walking outside carries and rear end camera are taken also will send to portable wireless monitor terminal by wireless transceiver after two groups of image compression encodings;
The 4th step: the wireless transceiver of portable wireless monitor terminal receive that pipe robot walking outside sends two groups is after the view data of compressed encoding, be transferred to embedded monitoring machine and decode, embedded monitoring machine is presented at decoded two groups of images being taken by front end camera and rear end camera on touch-screen;
The 5th step: by two groups of image scenes on the touch-screen of observation portable wireless monitor terminal, can be according to the order of sending of the reasonable layout steering order of actual conditions, can also control tube robot walking outside complete climbing straight tube, bend pipe, L shaped pipe, T shape pipe and the multiple cast of cruciform pipe or around pipeline left rotation and right rotation multiple-task.
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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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| CN107135339A (en) * | 2017-03-31 | 2017-09-05 | 昆明德益机械制造有限公司 | A kind of picture catching device monitored with vision robot |
| CN109856662B (en) * | 2018-12-13 | 2020-09-01 | 北京炎凌嘉业机电设备有限公司 | Radioactive source detection moving robot |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN101130190A (en) * | 2006-08-22 | 2008-02-27 | 深圳职业技术学院 | Robot for cleaning pipeline |
| CN201600573U (en) * | 2009-11-05 | 2010-10-06 | 浙江工业大学 | Cleaning robot controller of air duct system |
| CN101915339A (en) * | 2010-07-29 | 2010-12-15 | 中国科学院深圳先进技术研究院 | Pipeline robot |
| CN102085523A (en) * | 2009-12-03 | 2011-06-08 | 武汉若比特机器人有限公司 | Pipeline detection cleaning robot |
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| KR100645379B1 (en) * | 2004-10-29 | 2006-11-15 | 삼성광주전자 주식회사 | A robot controlling system and a robot control method |
| CN202600485U (en) * | 2012-05-19 | 2012-12-12 | 山东科技大学 | Control system of walking robot outside pipelines |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN101130190A (en) * | 2006-08-22 | 2008-02-27 | 深圳职业技术学院 | Robot for cleaning pipeline |
| CN201600573U (en) * | 2009-11-05 | 2010-10-06 | 浙江工业大学 | Cleaning robot controller of air duct system |
| CN102085523A (en) * | 2009-12-03 | 2011-06-08 | 武汉若比特机器人有限公司 | Pipeline detection cleaning robot |
| CN101915339A (en) * | 2010-07-29 | 2010-12-15 | 中国科学院深圳先进技术研究院 | Pipeline robot |
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