CN107329483A - The detecting robot of pipe system and method for work of a kind of view-based access control model technology - Google Patents
The detecting robot of pipe system and method for work of a kind of view-based access control model technology Download PDFInfo
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- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
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Abstract
A kind of detecting robot of pipe system of view-based access control model technology, it includes detecting robot of pipe body and monitoring and detecting system；Monitoring with detecting system is made up of Monitor Computer Control System, detection module, lower computer unit, motor drive module, communication module and power module；The screw drives mechanism of wall device is pressed to make robot stable flexible walking in inclination, the pipeline of vertical, small reducing with high-strength spring；Long-distance monitor and control can be achieved；The Processing Algorithm that the tupe and piecemeal+Otsu+K means split using cylinder unwrapping color space conversion image are combined, processing speed is faster；Motion is flexibly stable, and pipe detection task can be completed in the not enterable small pipeline of personnel.
Description
Technical field
The invention belongs to detecting robot of pipe technical field, particularly a kind of pipe detection machine of view-based access control model technology
People's system and method for work.
Background technology
With global industry degree more and more higher, the transport of resource can not during people live and produced with shared turned into
Or scarce part, five big means of transportation of current main flow be respectively highway transportation, railway transportation, marine transportation, air transport and
Pipeline transportation.Compared with other several means of transportation, pipeline transportation has that freight volume is big, taken up an area less, weatherproof, safety
A series of property unique advantages such as higher, cost is low, environmental benefit is good, have been widely used for food processing industry, city discharge
Many key areas such as water, petrochemical industry, living resources supply, gradually start to turn into one National Industrial development level of measurement
One of mark.
But the fast-developing behind of pipeline transportation but under cover increasing potential safety hazard.Due to what is conveyed in pipeline
Oil gas is all inflammable and explosive, once occur any careless mistake, such as pipeline breaking etc., the pernicious consequence such as pole fire hazardous, blast.
Under huge potential safety hazard, the whole world starts to strengthen the supervision to oil-gas pipeline transportation safety.Prevent safety problem
The effective method occurred is exactly to force enterprise implement pipe detection.Promulgate successively in the U.S.《Pipe safety is improved
Method》,《Pipe detection in 2006, protect, safe decree of enforcing the law》Carry out specification etc. a series of decree provisions and strengthen enterprise to pipeline
Safety detection.China also promulgates《Pressure pipeline periodic inspection rule》, the constituting criterion of this decree country is to oil gas
The standard of conveyance conduit detection, wherein regulation main line must be detected in 5 years.
Traditional pipe detection, all detection contents are completed in person by staff, there is certain danger,
And detection efficiency is also not fully up to expectations.Particularly with internal narrow pipeline or the pipeline of conveying toxic gas, inspection
Survey personnel can not carry out any detection at all, in order to pipeline can safety work, study new pipeline inspection technology and have become
The top priority of pipeline transportation industry, and the appearance of detecting robot of pipe solves the matter of great urgency of pipeline industry.
Vision sensor device of the detecting robot of pipe of view-based access control model by robot with load in itself, can be succinctly square
Just acquisition pipeline internal environment image information, and by these information transmissions to remote control center, by pipeline interior view
As information is analyzed and processed, service condition and danger coefficient when preceding pipeline are judged, and potential danger is entered in time
Row safe handling, to reduce the generation of the major accidents such as pipe leakage, blast, fire.Compared with pipe outside detection technology, based on regarding
The in-pipe robot detection of feel can in detail be detected to being embedded in ground end, passing through the medium pipeline positioned at specific position of water.Therefore, with
Other detection modes of pipeline are compared, and it is unique that the detecting robot of pipe technology of view-based access control model has in safety detection of pipelines
Status.
The content of the invention
It is an object of the invention to provide a kind of detecting robot of pipe system of view-based access control model technology and method of work, it
The basic machine design of pressure wall construction and screw drives structure is employed, monitoring system is using bottom single-chip microcomputer and the connection of host computer
Control mode is closed, the deficiencies in the prior art are overcome, is a kind of robot system and method simple in construction, easy to operate.
Technical scheme：A kind of detecting robot of pipe system of view-based access control model technology, it is characterised in that it is wrapped
Include detecting robot of pipe body and monitoring and detecting system；Wherein, driving electricity is loaded on the detecting robot of pipe body
Machine；The monitoring is arranged on detecting system on the fuselage of detecting robot of pipe body, to control the action of motor to reach
Manually make to control pipeline detection machine.
The detecting robot of pipe is the spiral wheeled robot that wall device is pressed with high-strength spring；The pipeline inspection
The mechanical structure for surveying robot body is made up of spiral head, fuselage and retainer；The fuselage is used for band and carries monitoring and detection
System, and play a part of connection spiral head and retainer；The spiral head three groups of drivings of distributing installation on its circumferencial direction
Wheel, between every two groups of driving wheels at intervals of 120 °, and be all made up of single wheel；The axis of the driving wheel and pipeline center
Axis α in an angle, makes the movement locus of driving wheel form a certain helix along duct wall, when wheel is moved along inner-walls of duct
During a dynamic circle, the air line distance of detecting robot of pipe movement is L=π Dtan α, and wherein D is internal diameter of the pipeline；By to driving wheel
The adjustment at inclination angle can change detecting robot of pipe movement velocity and driving force size.
The axis of the driving wheel and central axis α in an angle span are 15 °≤α≤75 °, it is ensured that
The internal diameter of the pipeline that detecting robot of pipe can be detected, can be with the big of the adjust automatically angle according to the size of internal diameter of the pipeline
It is small.
The retainer is the follower for detecting robot of pipe motion guide；The retainer is in its circumference side
Upward distributing installation have between three groups of directive wheels, every two groups of directive wheels at intervals of 120 °；Every group is all made up of single wheel, and
And the axis and the centerline parallel of pipeline of each directive wheel, support, guide effect are risen to detecting robot of pipe.
The driving wheel of the spiral head and the directive wheel of retainer pass through connecting rod and this body phase of detecting robot of pipe
Connect, to enable detecting robot of pipe stabilized walking in inclination, vertical or tapered pipeline；The connecting rod inner radial dress
There is high-strength spring, detecting robot of pipe is remained certain pressure and frictional force to tube wall in the process of walking.
The monitoring is by Monitor Computer Control System, detection module, lower computer unit, motor driving mould with detecting system
Block, communication module and power module are constituted；The detection module, lower computer unit, motor drive module, communication module and power supply
Module is arranged on the fuselage of detecting robot of pipe body；The detection module is connected with lower computer unit, and pipe is provided for it
Road ambient parameter and robot parameter；The lower computer unit is powered by power module, its input receiving pipeline detection machine
Wheel information and ambient parameter information on human body, its output end are connected with motor drive module；The lower computer unit is also
It is connected with communication module in two-way signaling；Also connected between the communication module and Monitor Computer Control System in two-way signaling.
The lower computer unit uses PIC18F25K22 single-chip microcomputer main control chips；The power module is for pipe detection
Robot integrally provides energy supply, by 3 section 3.7V rechargeable type lithium battery group into its crest voltage is up to 12.6V, electric capacity
Measure and meet demand of the detecting robot of pipe system for energy for 2600mAh；The output end of the power module and PIC monolithics
The power input connection of machine main control chip, is that single-chip microcomputer and detection module provide 5V direct currents, 3.3V is provided for communication module
Direct current, 12V direct currents are provided for motor drive module；To ensure monolithic function normal work, PIC single chip microcomputer main control chip
Output end is connected with electric motor units control end, and so that control pipeline detects the motion of robot, motor control mode uses PWM
（Pulse Width Modulation, pulse width modulation）Technology.
Data receiver software, command control software and image processing algorithm are installed in the Monitor Computer Control System.
The data receiver software is mainly completed to pipeline environment and robot parameter, the reception of data；The instruction control
Software processed completes to move robot body the control instructed with information gathering, and the control software includes mobile phone A PP
（Application --- application program）And PC（Personal Computer --- PC）End；The mobile phone A PP can
To control and show the motion state of robot；The PC ends, the function of mainly realizing includes real time kinematics control, data and shown
Show, historgraphic data recording, video image show and handled.Connecting pipe is only needed by Socket socket Monitor Computer Control Systems
The IP address and port numbers of robot carry out telecommunication with regard to the robot in energy and pipeline, and by the data processing collected simultaneously
It has been shown that, also, robot can also be controlled by the IP address and port numbers of mobile phone A PP connecting pipes robot.
The output end of the detection module and the data input pin of lower computer unit are connected, by the number of detecting robot of pipe
It is believed that breath and tube environment information are sent to Monitor Computer Control System by lower computer unit and communication unit；The detection mould
Block be by ultrasonic distance-measuring sensor, Hall tachogenerator, inclination angle detection sensor, Temperature Humidity Sensor, alignment sensor,
Camera and card reader are constituted；The obliquity sensor, the output end of Temperature Humidity Sensor and card reader and lower computer unit
The connection of input；The ultrasonic distance-measuring sensor measures the information of front obstacle, and passes through common I/O interface and slave computer
It is in be bi-directionally connected between unit；The Hall tachogenerator can send the wheel information on detecting robot of pipe body
To lower computer unit；The measurable pipeline XY twin shaft angles of inclination angle detection sensor, learn the posture of pipe robot, and lead to
A/D translation interfaces are crossed to send to lower computer unit；Humiture ambient conditions in the Temperature and Humidity sensor measuring tube, and lead to
Cross common I/O interface and be sent to lower computer unit, to judge whether tube environment is abnormal；The alignment sensor is connect using non-
Touch card reader；The camera carries WIFI（Wireless-Fidelity --- WLAN）Device, can directly with
Host computer is connected, it is ensured that the real-time Transmission of image；The camera is arranged on the top of detecting robot of pipe.
Two-way signaling connection between the communication module and Monitor Computer Control System is in WIFI forms by router
Connection；The two-way signaling of the lower computer unit and communication module connects through UART（Universal Asynchronous
Receiver-Transmitter --- universal asynchronous transceiver）Form is connected.
The Monitor Computer Control System is equipped with the PC of detecting robot of pipe monitor system software；The pipe detection
Robot monitoring system carries out radio communication and multi-thread programming using Socket classes and Thread classes, mainly including following
Part：Connection, real time kinematics control, data interaction, historgraphic data recording, video image show and handled；The connection refers to
Between upper computer end, communication module, single-chip microcomputer main control module, detection module and motor drive module wireless telecommunications connection and
With storing historical data and gathering the SQL Server databases of information（Relational DBMS）Connection；It is described
Control refers to the speed to robot body and the control in direction in real time；The data interaction refers to the data display sum at PC ends
According to storage；The video image includes the display and the processing of gathered image information for the image that camera is gathered.
The Monitor Computer Control System and detecting robot of pipe carry out data interaction by way of WIFI communication, and make
Set up and be connected with detecting robot of pipe with Socket connected modes；Pass through the Socket sockets Monitor Computer Control System only company of need
Connect the IP address and port numbers of detecting robot of pipe with regard to can and pipeline in robot carry out telecommunication, and will collect
Data processing is simultaneously shown, also, the IP address and port numbers of robot can also be detected by mobile phone A PP connecting pipes, to machine
Device people is controlled；The Monitor Computer Control System data that Monitor detection sensor is collected always after Socket connections are completed,
In order to not influence other operations of Monitor Computer Control System, separately open a Thread new thread and carry out monitored data, in monitored data
Using Socket.BeginReceive methods, Asynchronous Reception data are stored in buffering area from the Socket of connection in thread, it
Carry out unpacking afterwards analyzing and processing and being shown in text box TextBox while storing data.
Monitoring and the method for work of detecting system in a kind of detecting robot of pipe system of view-based access control model, including following step
Suddenly：
（1）After electricity on robot body, Monitor Computer Control System is set up Socket with detecting robot of pipe and is connected, by upper
PC sends motion control instruction, includes the control of the direction of motion and movement velocity, control instruction is passed by wireless communication module
Deliver to PIC single chip microcomputer；
（2）PIC single chip microcomputer is received after instruction, and PWM interfaces are that motor drive module exports pwm control signal, and motor is obtained
To after pwm control signal, spiral head is driven to rotate by shaft coupling, driving wheel can spin along tube wall and move, so that driving machine
Device people travels forward along inner-walls of duct；
（3）When robot travels forward, pass through obstacle distance value, pipe in sensor collection pipeline XY twin shafts angle value, pipeline
The data such as position in warm and humid angle value, robot space rate value and its pipe, by WIFI wireless communication modules, are uploaded in road
Position machine；
（4）After robot starts working, Monitor Computer Control System searches for equipment by WIFI wireless modules, passes through IP, port numbers
The camera that detecting robot of pipe needed for being connected to is carried；
（5）After Monitor Computer Control System is connected with camera, the wireless network camera of robot top loading starts to obtain pipe
Image information inside road, and Monitor Computer Control System is sent to, to reach the purpose independently detected, to pipeline internal corrosion figure
The Processing Algorithm of picture；
（6）Monitor Computer Control System by the image information of shooting overhead pass to using cylinder unwrapping, color space conversion and image
After dividing processing algorithm is handled, Monitor Computer Control System independently judges whether " there is wound " inside pipeline, if host computer identification
There is damage inside, then includes image information and related data in Monitor Computer Control System interface, and is stored in database,
Details and foundation are provided for staff's subsequent treatment pipeline condition of the injury；
The step of by repeating 1-6, robotary and environment required for just can control robot motion and gathering
Image information；
（7）SQL Server2012 databases are connected with Monitor Computer Control System interface, and the data collected every time are deposited
Storage；The data storage function needed for detecting robot of pipe can be realized by ADO.NET data manipulations, three steps are broadly divided into
Suddenly：
Database is connected using SqlConnection objects；
SqlCommand objects are set up, are responsible for the execution of SQL statement and calling for storing process；
" result " returned after being performed to SQL or storing process is operated；
（8）Monitor Computer Control System just Monitor detection data message always after Socket is set up, after confirming that data format is errorless
Progress is unpacked parsing, the form of data is parsed according to each sensor, by obstacle distance in pipeline XY twin shafts angle value, pipeline
Position display is in Monitor Computer Control System interface in warm and humid angle value, robot space rate value and its pipe in value, pipeline, simultaneously
By all data storages in database.
The step（5）In pipeline internal corrosion image Processing Algorithm, using cylinder unwrapping-color space conversion-
The form of image dividing processing, the characteristics of for image to be handled, on lab color spaces, is divided original image first
Block processing so that sub-block variance is more than artwork variance 10%；Secondly image segmentation is carried out using otsu in this sub-block, and tried to achieve
Two class averages as kmeans initial cluster center；Finally image segmentation is carried out using kmeans clustering algorithms；Mainly include
Following steps：
In cylinder unwrapping algorithm, the point A1 (x1, y1) of original image is expressed as A1 (R) in polar coordinate system, after expansion
Respective coordinates are A2 (x2, y2), after expansion under the abscissa x2 of image corresponding points and polar coordinate system original image angle into
Direct ratio, ordinate y2 is directly proportional to radius R, and formula is as follows：
,
Wherein, RmaxPiping drawing is represented as outermost radius of circle, that is, maximum radius, RminRepresent piping drawing picture most inner side circle half
Footpath, that is, least radius；
The pipeline interior video image that camera is collected is that the three-dimensional pipeline face of cylinder has been compressed into two dimensional surface, relatively
There is relatively big difference in actual piping drawing picture, the raw video image that need to collect web camera is calculated by cylinder unwrapping
Method, is converted into the cylinder unwrapping rectangular image of more conducively successive image processing work.Web camera is installed in robot top
Portion, the piping drawing collected seems the annular concentric figure that diameter becomes larger, and the horizontal direction of image represents original graph after expansion
The circumferencial direction of picture, vertical direction represents conduit axis direction；
In order that image information is not influenceed by device channels, video image is empty by RGB (red, green, blue) color
Between be converted to CIE L*a*b* color spaces, wherein L, which represents brightness, a and represents red green color, b, represents blue yellow color；
The characteristics of for tube inner corrosion image, using piecemeal+Otsu+K-means image segmentation algorithms, process step is as follows：
A, the respectively overall variances of calculating image I on a, b component of lab color spaces、, and count；
B, to image carry outDecile processing, is divided intoBlock subgraph；
C, the variance for calculating every block of image after piecemeal；
If D,, then piecemeal terminate；Otherwise, repeat 2-3.
After above-mentioned blocking step, optimal piecemeal number is obtainedWith the subgraph with maximum variance, it is right
This image spatially carries out Otsu dividing processings in lab, and asks for average as K-means below to two class images after segmentation
The cluster centre of clustering algorithm.
The step（5）In stepDetailed process be made up of following steps：
It is A, rightOtsu segmentations are carried out, are obtainedWith
It is B, right、A, b component on do average value processing a little, obtain
Wherein,,；,
C, withFor cluster centre, every bit is calculated to the Euclidean distance of cluster centre
D, selection, clustered.
The operation principle of the present invention：What it is due to motor selection is brushed DC motor, motor speed and armature voltage
Size be directly proportional, change armature voltage can controlled motor rotating speed, when motor obtains electric rotation, driven by shaft coupling
Spiral head rotates, and because the axis of driving wheel and the axis of pipeline have angle, then driving wheel can spin along tube wall and move.With
Motor axle direction of rotation is different, and the direction of screw is also different.While the directive wheel axis and the axle of pipeline of retainer
Line will not be rotated without angle by the effect of circumferential frictional force, can only be moved axially along the pipe.So in the drive of motor
Under, detecting robot of pipe body can be moved axially along the pipe, and the direction of motion is relative with motor direction of rotation
Should.
After motor is stalled, acted on, had between the wheel and tube wall of detecting robot of pipe by high-strength press wall spring
Larger frictional force, can be such that detecting robot of pipe is still in tilted tube, will not produce down slip, skidding.Work as needs
During detecting robot of pipe stop motion, the high-strength spring device in connecting rod gives driving wheel and directive wheel certain pressure,
Allow the robot to overcome self gravitation is stable to rest in inclination or vertical pipe.
Monitor Computer Control System is set up Socket with detecting robot of pipe and is connected, Socket be application layer with transportation level it
Between the middle level of abstraction that is communicated, the complicated ICP/IP protocol of transportation level is converted into the interface conveniently called so as to application layer
Call.After connection is successfully established, motion control instruction is sent by host computer, includes the control of the direction of motion and movement velocity,
Control instruction is sent to PIC single chip microcomputer by wireless communication module.
The present invention uses digital P WM control modes, and adjustable pulsewidth width (dutycycle) is sent by PIC single chip microcomputer
Pwm signal, is conveyed to motor drive module, then driven by motor through high speed optoelectronic coupling apparatus (plaing a part of to avoid signal from disturbing)
Module carries out signal amplification, and the signal after amplification can direct-driving motor operating, the rotating speed of controlled motor and direction.
The amount of exercise of detecting robot of pipe includes the direction of motion and movement velocity, and the action for being converted into motor is
Rotate forward, invert and rotational speed regulation, motor control uses PWM technologies, Monitor Computer Control System is issued according to the data format of regulation
Motion control instruction adjusts the pwm signal that single-chip microcomputer is sent, and reaches the purpose of remote control detecting robot of pipe motion.
PIC single chip microcomputer is that motor exports pwm control signal by PWM interfaces, is carried out by serial line interface and communication unit
Data interaction, communication unit uses STA wireless networking modes, and the data that obliquity sensor is gathered are received by A/D translation interfaces,
The data gathered by common I/O interfaces ultrasonic distance-measuring sensor and Temperature Humidity Sensor, by catching interface
The pulse that Hall detecting element is sent.PIC single chip microcomputer carries out packing processing logical after the data that detection sensor is collected are received
Cross radio communication unit and be uploaded to Monitor Computer Control System.
Defect inside pipeline is generally the corrosion default produced by being worked in the presence of a harsh environment for a long time because of pipeline, corrosion
Feature is in irregular shape, and area is larger, and hot spot is more sparse, overall that unconnectedness is presented, and selects K-means cluster segmentations
Mode pipeline internal corrosion image is handled, the quality of K-means segmentation results is heavily dependent in cluster
The selection of the heart, in order that algorithm arithmetic speed is faster, using the sub-block that the formal character variance of piecemeal is maximum, and makes in the sub-block
With Otsu algorithm picks cluster centres.
Monitor Computer Control System just newly opens a thread after Socket is set up is used for Monitor detection data message, and thread is
In the controlling stream of single order in process, a process can concurrent multiple threads, every thread parallel performs different tasks,
The work of other threads in without influencing the course.Watcher thread carries out parsing of unpacking after confirming that data format is errorless, according to each
Sensor parses the form of data, by warm and humid angle value, machine in obstacle distance value in pipeline XY twin shafts angle value, pipeline, pipeline
Position display is in Monitor Computer Control System interface in device people's space rate value and its pipe, while by all data storages in data
In storehouse.
The present invention is advantageous in that：
（1）With high-strength spring press the screw drives mechanism of wall device robot can be made tilting, vertical, small reducing
Stable flexible walking in pipeline；
（2）Using PIC single chip microcomputer as control core, it is aided with multisensor, and combine the ipc monitor system using C# as programming language
System, using the data interaction pattern based on radio communication, realizes long-distance monitor and control detecting robot of pipe；
（3）The characteristics of for tube inner corrosion image, using the tupe of cylinder unwrapping-color space conversion-image segmentation, figure
As partitioning algorithm uses the Processing Algorithm that piecemeal+Otsu+K-means is combined, compared to traditional K-means algorithms, the algorithm
Processing speed is faster；
（4）Detecting robot of pipe motion is flexible stable, and pipeline inspection can be completed in the not enterable small pipeline of personnel
Survey task.
Brief description of the drawings
Fig. 1 is a kind of involved overall structure diagram of the detecting robot of pipe system of view-based access control model technology of the present invention.
Fig. 2 is monitoring and detecting system knot in a kind of involved detecting robot of pipe system of view-based access control model technology of the present invention
Composition.
Fig. 3 supervises for a kind of Monitor Computer Control System of the involved detecting robot of pipe system of view-based access control model technology of the present invention
Control system software schematic diagram.
Fig. 4 is Monitor Computer Control System number in a kind of involved detecting robot of pipe system of view-based access control model technology of the present invention
According to display and Stored Procedure figure.
Wherein, 1 is high-strength spring；2 be driving wheel；3 be spiral head；4 be fuselage；5 be retainer；6 be directive wheel；7
For connecting rod.
Embodiment
Embodiment：A kind of detecting robot of pipe of view-based access control model technology（See Fig. 1）System, it is characterised in that it includes pipe
Detect robot body and monitoring and detecting system in road；Wherein, motor is loaded on the detecting robot of pipe body；Institute
State monitoring to be arranged on detecting system on the fuselage of detecting robot of pipe body, control is reached with the action for controlling motor
Detecting robot of pipe works.
The detecting robot of pipe（See Fig. 1）It is the spiral wheeled robot that wall device is pressed with high-strength spring；Institute
The mechanical structure for stating detecting robot of pipe body is made up of spiral head 3, fuselage 4 and retainer 5；The fuselage 4 is used for band
Monitoring and detecting system are carried, and plays a part of connection spiral head 3 and retainer 5；The spiral head 3 divides on its circumferencial direction
Cloth installs three groups of driving wheels 2, between every two groups of driving wheels at intervals of 120 °, and be all made up of single wheel；The driving wheel 2
Axis and central axis α in an angle, the movement locus of driving wheel 2 is formed a certain helix along duct wall, when
Wheel along inner-walls of duct move a circle when, the air line distance of detecting robot of pipe movement is L=π Dtan α, and wherein D is pipeline
Internal diameter；Detecting robot of pipe movement velocity and driving force size can be changed by the adjustment to the inclination angle of driving wheel 2.
The axis of the driving wheel 2 and central axis α in an angle span are 15 °≤α≤75 °, are protected
The internal diameter of the pipeline that detecting robot of pipe can be detected has been demonstrate,proved, can be with the big of the adjust automatically angle according to the size of internal diameter of the pipeline
It is small.
The retainer 5 is the follower for detecting robot of pipe motion guide；The retainer 5 is in its circumference
On direction distributing installation have between three groups of directive wheels 6, every two groups of directive wheels 6 at intervals of 120 °；Every group all by single wheel structure
Into, and the axis and the centerline parallel of pipeline of each directive wheel 6, support, guide effect are risen to detecting robot of pipe.
The driving wheel 2 of the spiral head 3 and the directive wheel 6 of retainer 5 pass through connecting rod 7 and detecting robot of pipe sheet
Body phase connects, to enable detecting robot of pipe stabilized walking in inclination, vertical or tapered pipeline；Inside the connecting rod 7
High-strength spring 1 is radially housed, detecting robot of pipe is remained certain pressure to tube wall in the process of walking and is rubbed
Wipe power.
The monitoring and detecting system（See Fig. 2）It is by Monitor Computer Control System, detection module, lower computer unit, motor
Drive module, communication module and power module are constituted；The detection module, lower computer unit, motor drive module, communication module
On the fuselage that detecting robot of pipe body is arranged on power module；The detection module is connected with lower computer unit, is it
Pipeline environment parameter and robot parameter are provided；The lower computer unit is powered by power module, the inspection of its input receiving pipeline
The wheel information and ambient parameter information surveyed on robot body, its output end are connected with motor drive module；The slave computer
Unit is also connected with communication module in two-way signaling；Also connect between the communication module and Monitor Computer Control System in two-way signaling
Connect.
The lower computer unit uses PIC18F25K22 single-chip microcomputer main control chips；The power module is for pipe detection
Robot integrally provides energy supply, by 3 section 3.7V rechargeable type lithium battery group into its crest voltage is up to 12.6V, electric capacity
Measure and meet demand of the detecting robot of pipe system for energy for 2600mAh；The output end of the power module and PIC monolithics
The power input connection of machine main control chip, is that single-chip microcomputer and detection module provide 5V direct currents, 3.3V is provided for communication module
Direct current, 12V direct currents are provided for motor drive module；To ensure monolithic function normal work, PIC single chip microcomputer main control chip
Output end is connected with electric motor units control end, and so that control pipeline detects the motion of robot, motor control mode uses PWM skills
Art.
Data receiver software, command control software and image processing algorithm are installed in the Monitor Computer Control System.
The data receiver software is mainly completed to pipeline environment and robot parameter, the reception of data；The instruction control
Software processed completes to move robot body the control instructed with information gathering, and the control software includes mobile phone A PP and PC ends；
The mobile phone A PP can control and show the motion state of robot；The PC ends, the function of mainly realizing includes real time kinematics
Control, data display, historgraphic data recording, video image show and handled.Pass through Socket socket Monitor Computer Control Systems
The IP address and port numbers of Zhi Xu connecting pipes robot will be collected with regard to that can carry out telecommunication with the robot in pipeline
Data processing and display, also, can also be by the IP address and port numbers of mobile phone A PP connecting pipes robot, to machine
People is controlled.
The output end of the detection module and the data input pin of lower computer unit are connected, by the number of detecting robot of pipe
It is believed that breath and tube environment information are sent to Monitor Computer Control System by lower computer unit and communication unit；The detection mould
Block be by ultrasonic distance-measuring sensor, Hall tachogenerator, inclination angle detection sensor, Temperature Humidity Sensor, alignment sensor,
Camera and card reader are constituted；The obliquity sensor, the output end of Temperature Humidity Sensor and card reader and lower computer unit
The connection of input；The ultrasonic distance-measuring sensor measures the information of front obstacle, and passes through common I/O interface and slave computer
It is in be bi-directionally connected between unit；The Hall tachogenerator can send the wheel information on detecting robot of pipe body
To lower computer unit；The measurable pipeline XY twin shaft angles of inclination angle detection sensor, learn the posture of pipe robot, and lead to
A/D translation interfaces are crossed to send to lower computer unit；Humiture ambient conditions in the Temperature and Humidity sensor measuring tube, and lead to
Cross common I/O interface and be sent to lower computer unit, to judge whether tube environment is abnormal；The alignment sensor is connect using non-
Touch card reader；The camera carries WIFI devices, directly can be connected with host computer, it is ensured that the real-time Transmission of image；
The camera is arranged on the top of detecting robot of pipe.
Two-way signaling connection between the communication module and Monitor Computer Control System is in WIFI forms by router
Connection；The two-way signaling of the lower computer unit and communication module connects through the connection of UART forms.
The Monitor Computer Control System is equipped with the PC of detecting robot of pipe monitor system software；The pipe detection
Robot monitoring system（See Fig. 3）Radio communication and multi-thread programming, main bag are carried out using Socket classes and Thread classes
Include following part：Connection, real time kinematics control, data interaction, historgraphic data recording, video image show and handled；The company
Connect and refer to that the wireless telecommunications between upper computer end, communication module, single-chip microcomputer main control module, detection module and motor drive module connect
Connect and with storing historical data and gathering the SQL Server databases of information（Relational DBMS）Company
Connect；The real-time control refers to the speed to robot body and the control in direction；The data interaction refers to the data at PC ends
Display and data loading；The video image includes the display and the processing of gathered image information for the image that camera is gathered.
The Monitor Computer Control System and detecting robot of pipe carry out data interaction by way of WIFI communication,（Hand over
Mutual flow is shown in Fig. 4）, and be connected using Socket connected modes with detecting robot of pipe foundation；By on Socket sockets
Position machine monitoring system only needs connecting pipe to detect that the IP address and port numbers of robot are remote with regard to that can be carried out with the robot in pipeline
Cheng Tongxin, and by the data processing collected and display, also, robot can also be detected by mobile phone A PP connecting pipes
IP address and port numbers, are controlled to robot；Monitor Computer Control System Monitor detection always after Socket connections are completed
The data that sensor is collected, in order to not influence other operations of Monitor Computer Control System, separately open a Thread new thread
Monitored data, connects in monitored data thread using Socket.BeginReceive methods are asynchronous from the Socket of connection
Data deposit buffering area is received, carries out unpacking afterwards analyzing and processing and being shown in text box TextBox while depositing data
Storage.
Monitoring and the method for work of detecting system in a kind of detecting robot of pipe system of view-based access control model, including following step
Suddenly：
（1）After electricity on robot body, Monitor Computer Control System is set up Socket with detecting robot of pipe and is connected, by upper
PC sends motion control instruction, includes the control of the direction of motion and movement velocity, control instruction is passed by wireless communication module
Deliver to PIC single chip microcomputer；
（2）PIC single chip microcomputer is received after instruction, and PWM interfaces are that motor drive module exports pwm control signal, and motor is obtained
To after pwm control signal, spiral head is driven to rotate by shaft coupling, driving wheel can spin along tube wall and move, so that driving machine
Device people travels forward along inner-walls of duct；
（3）When robot travels forward, pass through obstacle distance value, pipe in sensor collection pipeline XY twin shafts angle value, pipeline
The data such as position in warm and humid angle value, robot space rate value and its pipe, by WIFI wireless communication modules, are uploaded in road
Position machine；
（4）After robot starts working, Monitor Computer Control System searches for equipment by WIFI wireless modules, passes through IP, port numbers
The camera that detecting robot of pipe needed for being connected to is carried；
（5）After Monitor Computer Control System is connected with camera, the wireless network camera of robot top loading starts to obtain pipe
Image information inside road, and Monitor Computer Control System is sent to, to reach the purpose independently detected, to pipeline internal corrosion figure
The Processing Algorithm of picture；The Processing Algorithm of pipeline internal corrosion image, using cylinder unwrapping-color space conversion-image segmentation portion
The form of reason, the characteristics of for image to be handled, on lab color spaces, carries out piecemeal processing to original image first so that
Sub-block variance is more than artwork variance 10%；Secondly image segmentation is carried out using otsu in this sub-block, and tries to achieve two class average conducts
Kmeans initial cluster center；Finally image segmentation is carried out using kmeans clustering algorithms；Mainly include the following steps that：
In cylinder unwrapping algorithm, the point A1 (x1, y1) of original image is expressed as A1 (R) in polar coordinate system, expansion
Respective coordinates are A2 (x2, y2) afterwards, the abscissa x2 of image corresponding points and original image under polar coordinate system angle after expansion
It is directly proportional, ordinate y2 is directly proportional to radius R, and formula is as follows：
,
Wherein, RmaxPiping drawing is represented as outermost radius of circle, that is, maximum radius, RminRepresent piping drawing picture most inner side circle half
Footpath, that is, least radius；
The pipeline interior video image that camera is collected is that the three-dimensional pipeline face of cylinder has been compressed into two dimensional surface, relatively
There is relatively big difference in actual piping drawing picture, the raw video image that need to collect web camera is calculated by cylinder unwrapping
Method, is converted into the cylinder unwrapping rectangular image of more conducively successive image processing work.Web camera is installed in robot top
Portion, the piping drawing collected seems the annular concentric figure that diameter becomes larger, and the horizontal direction of image represents original graph after expansion
The circumferencial direction of picture, vertical direction represents conduit axis direction；
In order that image information is not influenceed by device channels, video image is empty by RGB (red, green, blue) color
Between be converted to CIE L*a*b* color spaces, wherein L, which represents brightness, a and represents red green color, b, represents blue yellow color；
The characteristics of for tube inner corrosion image, using piecemeal+Otsu+K-means image segmentation algorithms, process step is as follows：
A, the respectively overall variances of calculating image I on a, b component of lab color spaces、, and count；
B, to image carry outDecile processing, is divided intoBlock subgraph；
C, the variance for calculating every block of image after piecemeal；
If D,, then piecemeal terminate；Otherwise, repeat 2-3.
After above-mentioned blocking step, optimal piecemeal number is obtainedWith the subgraph with maximum variance, it is right
This image spatially carries out Otsu dividing processings in lab, and asks for average as K-means below to two class images after segmentation
The cluster centre of clustering algorithm；Detailed process is made up of following steps：
It is A, rightOtsu segmentations are carried out, are obtainedWith
It is B, right、A, b component on do average value processing a little, obtain
Wherein,,；,
C, withFor cluster centre, every bit is calculated to the Euclidean distance of cluster centre
D, selection, clustered.
（6）Monitor Computer Control System to by shooting overhead pass image information using cylinder unwrapping, color space conversion and
After image dividing processing algorithm is handled, Monitor Computer Control System independently judges whether " there is wound " inside pipeline, if host computer
Assert that there is damage inside, then include image information and related data in Monitor Computer Control System interface, and be stored in data
In storehouse, details and foundation are provided for staff's subsequent treatment pipeline condition of the injury；
The step of by repeating 1-6, robotary and environment required for just can control robot motion and gathering
Image information；
（7）SQL Server2012 databases are connected with Monitor Computer Control System interface, and the data collected every time are deposited
Storage；The data storage function needed for detecting robot of pipe can be realized by ADO.NET data manipulations, three steps are broadly divided into
Suddenly：
Database is connected using SqlConnection objects；
SqlCommand objects are set up, are responsible for the execution of SQL statement and calling for storing process；
" result " returned after being performed to SQL or storing process is operated；
（8）Monitor Computer Control System just Monitor detection data message always after Socket is set up, after confirming that data format is errorless
Progress is unpacked parsing, the form of data is parsed according to each sensor, by obstacle distance in pipeline XY twin shafts angle value, pipeline
Position display is in Monitor Computer Control System interface in warm and humid angle value, robot space rate value and its pipe in value, pipeline, simultaneously
By all data storages in database.
Claims (10)
1. a kind of detecting robot of pipe system of view-based access control model technology, it is characterised in that it includes detecting robot of pipe body
With monitoring and detecting system；Wherein, motor is loaded on the detecting robot of pipe body；The monitoring and detecting system
On the fuselage of detecting robot of pipe body, reach that control pipeline detection machine is artificial with the action for controlling motor
Make.
2. a kind of detecting robot of pipe system of view-based access control model technology according to claim 1, it is characterised in that the pipe
Road detection robot is the spiral wheeled robot that wall device is pressed with high-strength spring；The detecting robot of pipe body
Mechanical structure is by spiral head（3）, fuselage（4）And retainer（5）Constitute；The fuselage（4）Carrying monitoring with detection for band is
System, and play connection spiral head（3）With retainer（5）Effect；The spiral head（3）The distributing installation three on its circumferencial direction
Group driving wheel（2）, between every two groups of driving wheels at intervals of 120 °, and be all made up of single wheel；The driving wheel（2）Axle
Line and central axis α in an angle, make driving wheel（2）Movement locus form a certain helix along duct wall, work as car
Wheel along inner-walls of duct move a circle when, the air line distance of detecting robot of pipe movement is L=π Dtan α, and wherein D is in pipeline
Footpath；By to driving wheel（2）The adjustment at inclination angle can change detecting robot of pipe movement velocity and driving force size.
3. a kind of detecting robot of pipe system of view-based access control model technology according to claim 2, it is characterised in that the drive
Driving wheel（2）Axis and central axis α in an angle span be 15 °≤α≤75 °.
4. a kind of detecting robot of pipe system of view-based access control model technology according to claim 2, it is characterised in that the guarantor
Hold frame（5）It is the follower for detecting robot of pipe motion guide；The retainer（5）It is distributed on its circumferencial direction
Three groups of directive wheels are installed（6）, every two groups of directive wheels（6）Between at intervals of 120 °；Every group is all made up of single wheel, and
Each directive wheel（6）Axis and pipeline centerline parallel, to detecting robot of pipe rise support, guide effect；
The spiral head（3）Driving wheel（2）And retainer（5）Directive wheel（6）Pass through connecting rod（7）With pipe detection machine
Device human body is connected, to enable detecting robot of pipe stabilized walking in inclination, vertical or tapered pipeline；The connecting rod
（7）Inner radial is equipped with high-strength spring（1）, detecting robot of pipe is remained certain to tube wall in the process of walking
Pressure and frictional force.
5. a kind of detecting robot of pipe system of view-based access control model technology according to claim 1, it is characterised in that the prison
Control and detecting system are by Monitor Computer Control System, detection module, lower computer unit, motor drive module, communication module and electricity
Source module is constituted；The detection module, lower computer unit, motor drive module, communication module and power module are arranged on pipeline
On the fuselage for detecting robot body；The detection module is connected with lower computer unit；The lower computer unit is by power module
Wheel information and ambient parameter information, its output end and motor on power supply, its input receiving pipeline detection robot body
Drive module is connected；The lower computer unit is also connected with communication module in two-way signaling；The communication module is supervised with host computer
Also connected between control system in two-way signaling.
6. a kind of detecting robot of pipe system of view-based access control model technology according to claim 5, it is characterised in that under described
Position machine unit uses PIC18F25K22 single-chip microcomputer main control chips；The power module is integrally provided for detecting robot of pipe
Energy supply, by 3 section 3.7V rechargeable type lithium battery group into；The output end of the power module and PIC single chip microcomputer master control core
The power input connection of piece, is that single-chip microcomputer and detection module provide 5V direct currents, provides 3.3V direct currents for communication module, be
Motor drive module provides 12V direct currents；The output end of the PIC single chip microcomputer main control chip is connected with electric motor units control end,
So that control pipeline detects the motion of robot, motor control mode uses PWM technologies；
The output end of the detection module and the data input pin of lower computer unit are connected, and the data of detecting robot of pipe are believed
Breath and tube environment information are sent to Monitor Computer Control System by lower computer unit and communication unit；The detection module is
By ultrasonic distance-measuring sensor, Hall tachogenerator, inclination angle detection sensor, Temperature Humidity Sensor, alignment sensor, shooting
Head and card reader are constituted；The input of the obliquity sensor, the output end of Temperature Humidity Sensor and card reader and lower computer unit
Connection；The ultrasonic distance-measuring sensor measures the information of front obstacle, and passes through common I/O interface and lower computer unit
Between in being bi-directionally connected；Wheel information on detecting robot of pipe body can be sent to down by the Hall tachogenerator
Position machine unit；The measurable pipeline XY twin shaft angles of inclination angle detection sensor, learn the posture of pipe robot, and pass through A/
D translation interfaces are sent to lower computer unit；Humiture ambient conditions in the Temperature and Humidity sensor measuring tube, and by general
Logical I/O interface is sent to lower computer unit, to judge whether tube environment is abnormal；The alignment sensor is using contactless
Card reader；The camera carries WIFI devices, directly can be connected with host computer, it is ensured that the real-time Transmission of image；It is described
Camera is arranged on the top of detecting robot of pipe.
7. a kind of detecting robot of pipe system of view-based access control model technology according to claim 5, it is characterised in that described logical
Two-way signaling connection between news module and Monitor Computer Control System is to be connected by router in WIFI forms；The slave computer
The two-way signaling of unit and communication module connects through the connection of UART forms；The Monitor Computer Control System is equipped with pipe detection
The PC of robot monitoring system software；The Monitor Computer Control System and detecting robot of pipe are by way of WIFI communication
Carry out data interaction.
8. monitoring and the method for work of detecting system in a kind of detecting robot of pipe system of view-based access control model, it is characterised in that it
Comprise the following steps：
（1）After electricity on robot body, Monitor Computer Control System is set up Socket with detecting robot of pipe and is connected, by upper
PC sends motion control instruction, includes the control of the direction of motion and movement velocity, control instruction is passed by wireless communication module
Deliver to PIC single chip microcomputer；
（2）PIC single chip microcomputer is received after instruction, and PWM interfaces are that motor drive module exports pwm control signal, and motor is obtained
To after pwm control signal, spiral head is driven to rotate by shaft coupling, driving wheel can spin along tube wall and move, so that driving machine
Device people travels forward along inner-walls of duct；
（3）When robot travels forward, pass through obstacle distance value, pipe in sensor collection pipeline XY twin shafts angle value, pipeline
The data such as position in warm and humid angle value, robot space rate value and its pipe, by WIFI wireless communication modules, are uploaded in road
Position machine；
（4）After robot starts working, Monitor Computer Control System searches for equipment by WIFI wireless modules, passes through IP, port numbers
The camera that detecting robot of pipe needed for being connected to is carried；
（5）After Monitor Computer Control System is connected with camera, the wireless network camera of robot top loading starts to obtain pipe
Image information inside road, and Monitor Computer Control System is sent to, to reach the purpose independently detected, to pipeline internal corrosion figure
The Processing Algorithm of picture；
（6）Monitor Computer Control System by the image information of shooting overhead pass to using cylinder unwrapping, color space conversion and image
After dividing processing algorithm is handled, Monitor Computer Control System independently judges whether " there is wound " inside pipeline, if host computer identification
There is damage inside, then includes image information and related data in Monitor Computer Control System interface, and is stored in database,
Details and foundation are provided for staff's subsequent treatment pipeline condition of the injury；
By repeating（1）—（6）The step of, just can control robot motion and gather required for robotary with
Ambient image information；
（7）SQL Server2012 databases are connected with Monitor Computer Control System interface, and the data collected every time are deposited
Storage；The data storage function needed for detecting robot of pipe can be realized by ADO.NET data manipulations, three steps are broadly divided into
Suddenly：
1. using SqlConnection objects connection database；
2. SqlCommand objects are set up, are responsible for the execution of SQL statement and calling for storing process；
3. " result " returned after being performed to SQL or storing process is operated；
（8）Monitor Computer Control System just Monitor detection data message always after Socket is set up, after confirming that data format is errorless
Progress is unpacked parsing, the form of data is parsed according to each sensor, by obstacle distance in pipeline XY twin shafts angle value, pipeline
Position display is in Monitor Computer Control System interface in warm and humid angle value, robot space rate value and its pipe in value, pipeline, simultaneously
By all data storages in database.
9. monitoring and the work of detecting system in a kind of detecting robot of pipe system of view-based access control model according to claim 8
Method, it is characterised in that the step（5）In pipeline internal corrosion image Processing Algorithm, it is empty using cylinder unwrapping-color
Between conversion-image dividing processing form, the characteristics of for image to be handled, on lab color spaces, first to original image
Carry out piecemeal processing so that sub-block variance is more than artwork variance 10%；Secondly image segmentation is carried out using otsu in this sub-block,
And two class averages are tried to achieve as kmeans initial cluster center；Finally image segmentation is carried out using kmeans clustering algorithms；It is main
Comprise the following steps：
1. in cylinder unwrapping algorithm, the point A1 (x1, y1) of original image is expressed as A1 (R) in polar coordinate system, after expansion
Respective coordinates are A2 (x2, y2), after expansion under the abscissa x2 of image corresponding points and polar coordinate system original image angle into
Direct ratio, ordinate y2 is directly proportional to radius R, and formula is as follows：
,
Wherein, RmaxPiping drawing is represented as outermost radius of circle, that is, maximum radius, RminRepresent piping drawing picture most inner side circle half
Footpath, that is, least radius；
The pipeline interior video image that camera is collected is that the three-dimensional pipeline face of cylinder has been compressed into two dimensional surface, relatively
There is relatively big difference in actual piping drawing picture, the raw video image that need to collect web camera is calculated by cylinder unwrapping
Method, is converted into the cylinder unwrapping rectangular image of more conducively successive image processing work；Web camera is installed in robot top
Portion, the piping drawing collected seems the annular concentric figure that diameter becomes larger, and the horizontal direction of image represents original graph after expansion
The circumferencial direction of picture, vertical direction represents conduit axis direction；
2. it is in order that image information is not influenceed by device channels, video image is empty by RGB (red, green, blue) color
Between be converted to CIE L*a*b* color spaces, wherein L, which represents brightness, a and represents red green color, b, represents blue yellow color；
The characteristics of for tube inner corrosion image, using piecemeal+Otsu+K-means image segmentation algorithms, process step is as follows：
A, the respectively overall variances of calculating image I on a, b component of lab color spaces、, and count；
B, to image carry outDecile processing, is divided intoBlock subgraph；
C, the variance for calculating every block of image after piecemeal；
If D,, then piecemeal terminate；Otherwise, repeat B-C；
3. after above-mentioned blocking step, optimal piecemeal number is obtainedWith the subgraph with maximum variance, to this figure
As spatially carrying out Otsu dividing processings in lab, and two class images after segmentation are asked for average as the clusters of K-means below
The cluster centre of algorithm.
10. the work with detecting system is monitored in a kind of detecting robot of pipe system of view-based access control model according to claim 9
Make method, it is characterised in that the detailed process of the step 3. is made up of following steps：
It is A, rightOtsu segmentations are carried out, are obtainedWith；
It is B, right、A, b component on do average value processing a little, obtain
Wherein,,；,；
C, withFor cluster centre, every bit is calculated to the Euclidean distance of cluster centre；
D, selection, clustered.
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