CN102799178A - Autonomous inspection-path algorithm of pipeline inspection robot and robot with same algorithm - Google Patents
Autonomous inspection-path algorithm of pipeline inspection robot and robot with same algorithm Download PDFInfo
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- CN102799178A CN102799178A CN2012102265900A CN201210226590A CN102799178A CN 102799178 A CN102799178 A CN 102799178A CN 2012102265900 A CN2012102265900 A CN 2012102265900A CN 201210226590 A CN201210226590 A CN 201210226590A CN 102799178 A CN102799178 A CN 102799178A
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Abstract
The invention provides an autonomous inspection-path algorithm of a pipeline inspection robot. A pipeline comprises a plurality of branch pipelines which are communicated with each other from the head to the tail in turn. The branch pipelines form a polygonized structure, and an exit of the pipeline is disposed in a space formed by the polygonized structure. The algorithm comprises: step 1, recording traveling directions of the robot when the robot passes each crossing to form a first path array; step 2, optimizing the first path array and forming a second path array; step 3, controlling the robot to perform inspection-path on the pipeline according to the second path array, modifying a mark in the second path array, traveling according to the modified mark until the robot walks out of the exit, recording a whole traveling route to form a third path array; step 4, and storing the third path array, and meanwhile controlling the robot to perform another inspection-path on the pipeline according to the third path array.
Description
Technical field
The invention belongs to pipeline and make an inspection tour the monitoring field, relate in particular to the robot that a kind of pipeline crusing robot independently patrols the footpath algorithm and has this algorithm.
Background technology
Pipeline is to ensure the energy and signal line and extraneous effectively isolation, prevents the external force invasion and attack, guarantees the critical facility of safe transmission; Along with the development of information society and the increase of energy demand, intelligent grid has begun to get into people's life, except carrying out the electric power stringing on the ground and transmitting; Also opened up the transmission path of intelligent grid down below; Through setting up various electric power transfer pipelines, not only can realize the transmission of electric power signal, and effectively improve the utilization factor of resource underground.Simultaneously, line of electric force is placed in the underground pipeline, can bring visual cabling disorderly, the dangerous high problem in the use.Development along with the intelligent grid industry; The piping network of modern city is intricate; Piping network is close to the labyrinth; Can not accomplish the patrolling and examining of cable in the pipeline through manpower, bring very big inconvenience to maintenance, therefore utilizing pipe robot that communication cable, underground cable are patrolled and examined maintenance has become a kind of common recognition.But how to make robot can realize patrolling automatically the footpath, this just need study labyrinth algorithm.
Existing robot labyrinth control strategy is mainly lefft-hand rule (Left Hand Rule) and right-hand rule (Right Hand Rule).
The technical characterstic of lefft-hand rule is: 1, the priority of robot execution left-hand rotation is higher than craspedodrome or turns right; 2, the priority of robot execution craspedodrome is higher than right-hand rotation.When robot patrolled the footpath in the pipeline of labyrinth, if run into " crossroad " (left-hand rotation, craspedodrome and right-hand rotation are promptly arranged), robot can turn left; If run into " keeping straight on or the right-hand rotation crossing ", robot can keep straight on; Only run into " right-hand rotation crossing ", the machine talent turns right.In short be exactly that the robot that carries out lefft-hand rule is walked along the left side.If pipeline comprises the lateral that many head and the tail are interconnected successively, this lateral surrounds a polygonized structure, and the outlet of pipeline is not arranged in the space that polygonized structure surrounds, and robot finally can walk to breast the tape from starting point smoothly.In like manner, the technical characterstic of right-hand rule is: 1, the priority of robot execution right-hand rotation is higher than craspedodrome or turns left; 2, the priority of robot execution craspedodrome is higher than left-hand rotation.
More than the implementation effect of these two kinds of control strategies as shown in Figure 1.Fine line shown in the figure is crisscross pipeline; And shown the entrance and exit position of pipeline respectively, shown in dotted line be lefft-hand rule control robot in ducted tour or course, shown in double dot dash line be that the robot of right-hand rule control is in ducted tour or course; But when running into the lateral that pipeline comprises that many head and the tail are interconnected successively; This lateral surrounds a polygonized structure, and the outlet of pipeline is as shown in Figure 2 when being arranged in the space that polygonized structure surrounds; No matter this moment, control strategy was lefft-hand rule or right-hand rule; The inlet of pipeline finally still can be got back to by robot, and then can't find the outlet of pipeline, thereby can't accomplish patrolling and examining the pipeline inner cable.
Summary of the invention
The present invention be intended to solve in the prior art when the pipeline that will patrol and examine comprise the lateral that many head and the tail are interconnected successively; This lateral surrounds a polygonized structure; And when the outlet of pipeline is arranged in the space that polygonized structure surrounds; Inspection robot can't be accomplished the technical matters that the pipeline inner cable is patrolled and examined according to lefft-hand rule or right-hand rule control strategy; Provide a kind of labyrinth pipe robot independently to patrol the footpath algorithm, can realize inspection robot patrolling and examining this pipeline through this algorithm.
The present invention provides a kind of pipeline crusing robot independently to patrol the footpath algorithm; Said pipeline comprises the lateral that many head and the tail are interconnected successively; Many said lateral surrounds a polygonized structure; And the outlet of pipeline is arranged in the space that polygonized structure surrounds, and it is characterized in that, said pipeline crusing robot independently patrols the footpath algorithm and may further comprise the steps:
Step 1; Direct of travel when writing down said robot through each crossing also forms the first path array of being made up of letter; Wherein, If said robot turns left at the crossing then writes down a letter " L ", if said robot turns right at the crossing then writes down a letter " R ", if said robot keeps straight at the crossing then writes down a letter " S "; If during the tune of said robot then write down a letter " U ", the last letter that writes down forms the said first path array in proper order according to the walking of robot;
Step 2; Patrolling the footpath control strategy according to robot simplifies the first path array and forms the second path array; Wherein, When said control strategy was lefft-hand rule, the monogram " SUL " in the first path array or " LUS " is alternative with letter " R ", monogram " LUL " usefulness " S " substituted, and forms the said second path array; When said control strategy was right-hand rule, the monogram " SUR " in the first path array or " RUS " is alternative with letter " L ", monogram " RUR " substituted with S, forms the said second path array; Simultaneously, store the said second path array;
Step 3; Control said robot and said pipeline is patrolled the footpath according to the second path array; And the sign in the second path array made amendment, advance until walking out said outlet according to amended sign, said whole travel line is write down form Third Road footpath array;
Step 4, storage Third Road footpath array is controlled said robot simultaneously and according to said Third Road footpath array said pipeline is carried out the footpath of patrolling next time.
Preferably, in the said step 3, when control strategy was lefft-hand rule, step 3 specifically may further comprise the steps:
31, control robot is patrolled the footpath according to the second original path array to said pipeline; When N is designated as the crossing of " L " or " S " in running into the said second path array; Said sign " L " is revised as " S " or " R "; Maybe will indicate " S " and be revised as " R ", and control robot advances according to amended sign at the crossing that this modification indicates, and control robot continues to advance according to lefft-hand rule or right-hand rule in the pipeline path of the back, crossing that said modification indicates;
32, arrive said outlet if the footpath is patrolled in this time, then write down the direct of travel that each crossing of process in the footpath is patrolled in this time, form said the 3rd group of path array; If not, N adds up 1, and returns step 31;
Wherein said N is an integer, and the initial value of N is 1, the maximal value of N be letter " L " and " S " in the second path array number with.
Preferably, in the said step 3, when control strategy was right-hand rule, step 3 specifically may further comprise the steps:
31 ', the said robot of control patrols the footpath according to the second original path array to said pipeline; When M is denoted as the crossing of " R " or " S " in running into the said second path array; Said sign R is revised as " S " or " L "; Maybe will indicate " S " and be revised as " L "; Control robot is advanced according to amended sign at the crossing of this modified logo, and control robot continues to advance according to lefft-hand rule or right-hand rule in the pipeline path of the back, crossing that said modification indicates;
32 ', arrive said outlet if the footpath is patrolled in this time, then write down the direct of travel that each crossing of process in the footpath is patrolled in this time, form said the 3rd group of path array; If not, M adds up 1, and returns step 31 ';
Wherein said M is an integer, and the initial value of M is 1, the maximal value of M be letter " R " and " S " in the second path array number with.
Preferably, in the said step 2, the concrete simplification control method to the first path array when said control strategy is lefft-hand rule is:
Step S100; In the first path array; Search monogram " SUL ", " LUS " or " LUL " successively from first letter beginning; When finding first monogram " SUL ", " LUS " or " LUL ", stop to continue to search and monogram " SUL " or " LUS " being replaced with " R ", or monogram " LUL " is replaced with " S ";
Step S110 from first letter beginning, searches monogram " SUL ", " LUS " or " LUL " again once more; When finding first monogram " SUL ", " LUS " or " LUL " once more, stop to continue to search and monogram " SUL " or " LUS " being replaced with " R ", or monogram " LUL " is replaced with " S ";
Step S120, repeating step S110 when in the said first path array, not having monogram " SUL ", " LUS " or " LUL ", finishes to search, and the first path array is simplified the final path array that forms in back as the second path array.
Preferably, in the said step 2, the concrete simplification control method to the first path array when said control strategy is right-hand rule is:
Step S200; In the first path array; Search monogram " SUR ", " RUS " or " RUR " successively from first letter beginning; When finding first monogram " SUR ", " RUS " or " RUR ", stop to continue to search and monogram " SUR " or " RUS " being replaced with " L ", or monogram " RUR " is replaced with " S ";
Step S210 from first letter beginning, searches monogram " SUR ", " RUS " or " RUR " again once more; When finding first monogram " SUR ", " RUS " or " RUR " once more, stop to continue to search and monogram " SUR " or " RUS " being replaced with " L ", or monogram " RUR " is replaced with " S ";
Step S220, repeating step S210 when in the said first path array, not having monogram " SUR ", " RUS " or " RUR ", finishes to search, and the first path array is simplified the final path array that forms in back as the second path array.
Preferably, in said step 2, the letter of analyzing in the first path array is formed, when comprising letter " L " in the first path array, said robot to patrol the footpath control strategy be lefft-hand rule.
Preferably, in said step 2, the letter of analyzing in the first path array is formed, when comprising letter " R " in the first path array, said robot to patrol the footpath control strategy be right-hand rule.
Preferably, said robot is the opening entry first path array after getting into the inlet of pipeline, the end record first path array when returning the inlet of said labyrinth pipeline.
Preferably, said controller have the described pipeline crusing robot of above-mentioned any claim independently patrol the footpath algorithm.
Preferably, said controller is controlled said robot according to Third Road footpath array said pipeline is patrolled the footpath.
The above technical scheme; Robot control according to lefft-hand rule or right-hand rule when patrolling for the first time the footpath forms the first path array; When control strategy was lefft-hand rule, the monogram " SUL " in the first path array or " LUS " is alternative with letter " R ", monogram " LUL " usefulness " S " substituted; When control strategy was right-hand rule, the monogram " SUR " in the first path array or " RUS " is alternative with letter " L ", monogram " RUR " substituted the final second path array that forms after simplifying with S; And with there being unnecessary direction not have the crossing of experience to indicate conversion in the second path array; Walk out outlet according to lefft-hand rule or right-hand rule control robot again afterwards; And formation Third Road footpath array; The indicated route of this Third Road footpath array is the directly route that patrols to this pipeline, and the may command robot is patrolling the footpath according to Third Road footpath array to said pipeline next time, has realized the patrolling footpath of pipe robot to pipeline.
Description of drawings
Fig. 1 is that the pipe robot of a kind of embodiment of prior art independently patrols the footpath synoptic diagram.
Fig. 2 is that the pipe robot of an embodiment of the present invention is according to the lefft-hand rule synoptic diagram of keeping straight at the crossing.
Fig. 3 be the pipe robot of an embodiment of the present invention according to lefft-hand rule at pipeline end tune synoptic diagram.
Fig. 4 is that the pipe robot of an embodiment of the present invention is according to the lefft-hand rule synoptic diagram that turns left at the crossing.
Fig. 5 be the pipe robot of an embodiment of the present invention according to lefft-hand rule at next crossing left-hand rotation synoptic diagram.
Fig. 6 be the pipe robot of an embodiment of the present invention according to lefft-hand rule at this pipeline end tune synoptic diagram.
Fig. 7 be the pipe robot of an embodiment of the present invention according to lefft-hand rule at left-hand rotation synoptic diagram in crossing shown in Figure 5.
Fig. 8 is that the pipe robot of an embodiment of the present invention is reversed end for end synoptic diagram according to lefft-hand rule.
Fig. 9 is that the pipe robot of an embodiment of the present invention is according to the lefft-hand rule synoptic diagram that turns left.
Figure 10 is that the pipe robot of an embodiment of the present invention turns left according to lefft-hand rule and goes to the outlet synoptic diagram.
Figure 11 is that pipe robot the best of an embodiment of the present invention is patrolled footpath circuit synoptic diagram.
Figure 12 is that the pipe robot of second kind of embodiment of the present invention is according to the right-hand rule synoptic diagram of turning right at the crossing.
Figure 13 be the pipe robot of second kind of embodiment of the present invention according to right-hand rule at next crossing right-hand rotation synoptic diagram.
Figure 14 be the pipe robot of second kind of embodiment of the present invention according to right-hand rule at right-hand rotation synoptic diagram in crossing shown in Figure 13.
Figure 15 is that the pipe robot of second kind of embodiment of the present invention is according to the right-hand rule synoptic diagram of turning right.
Figure 16 is that the pipe robot of second kind of embodiment of the present invention is according to right-hand rule crossing right-hand rotation synoptic diagram in the end.
Figure 17 is that the pipe robot of second kind of embodiment of the present invention is according to the right-hand rule synoptic diagram of keeping straight on.
Figure 18 is that pipe robot the best of second kind of embodiment of the present invention is patrolled footpath circuit synoptic diagram.
Figure 19 is that the pipe robot of another kind of embodiment in the prior art independently patrols the footpath synoptic diagram.
Figure 20 patrols footpath circuit synoptic diagram according to the pipe robot after the lefft-hand rule simplification among Figure 19.
Figure 21 is according to a kind of footpath circuit synoptic diagram that patrols of the pipe robot of the present invention control among Figure 20.
Figure 22 is that the another kind according to the pipe robot of the present invention control patrols footpath circuit synoptic diagram among Figure 20.
Figure 23 patrols footpath circuit synoptic diagram according to the third of the pipe robot of the present invention control among Figure 20.
Figure 24 patrols footpath circuit synoptic diagram according to the pipe robot after the right-hand rule simplification among Figure 19.
Figure 25 is according to a kind of footpath circuit synoptic diagram that patrols of the pipe robot of the present invention control among Figure 24.
Embodiment
Clearer for technical matters, technical scheme and beneficial effect that the present invention is solved, below in conjunction with accompanying drawing and embodiment, the present invention is further elaborated.Should be appreciated that specific embodiment described herein only in order to explanation the present invention, and be not used in qualification the present invention.
As shown in Figure 1; It is lefft-hand rule or right hand method that existing robot patrols the control strategy that adopts in the process of footpath; The robot course that this control strategy is controlled not is optimum route; Optimal route shown in the figure should be the route shown in the heavy line, so the present invention will be optimized original control strategy, can realize that the pipe robot optimum patrols the optimization and the selection of footpath route.Concrete optimization method may further comprise the steps:
First; Direct of travel during each crossing of recorder people process also forms the first group of paths number of being made up of letter; Wherein, If said robot turns left in corresponding intersection then writes down a letter " L ", if said robot turns right in corresponding intersection then writes down a letter " R ", if said robot keeps straight in corresponding intersection then writes down a letter " S "; If during the tune of said robot then write down a letter " U ", the last letter that writes down forms the first path array in proper order according to the walking of robot; The notion at " crossing " recited above is meant: get rid of the entrance and exit of labyrinth pipeline, the position that robot can have an above direct of travel to select in the pipeline of labyrinth is called the crossing, also comprises the place of place, pipeline blind alley tune.
The second, patrol the footpath control strategy according to robot and simplify the first path array and form the second path array, wherein, said here control strategy is meant the control mode that when the above-mentioned formation first path array, is adopted, and can be divided into lefft-hand rule and right-hand rule.When control strategy was lefft-hand rule, the monogram " SUL " in the first path array or " LUS " is alternative with letter " R ", monogram " LUL " usefulness " S " substituted, and forms the second path array; When control strategy was right-hand rule, the monogram " SUR " in the first path array or " RUS " is alternative with letter " L ", monogram " RUR " substituted and forms the second path array with S; Store the said second path array, and control said robot and this labyrinth pipeline is carried out the footpath of patrolling next time according to the said second path array.
In conjunction with Fig. 2-shown in Figure 10; The control strategy of the labyrinth pipe robot shown in the figure is a lefft-hand rule; When robot passes through this labyrinth for the first time, promptly adopt " lefft-hand rule " strategy to control its course, patrol in the process in footpath at pipeline; To run on the way has some crossings, and the controller of robot interior whenever carries out record through the direction at a crossing.
If shown in 2, robot gets into along the inlet of labyrinth pipeline in the diagram, has run into first crossing-craspedodrome or right-hand rotation crossing then.According to " lefft-hand rule ", robot will keep straight on.Robot will write down character " S " and be stored in the first path array along seeking according to priority at this moment.
As shown in Figure 3; Robot moves on and will run into second crossing---blind alley or the outlet of non-purpose, and in this time, robot must reverse end for end; Be that robot from left to right rotates and reverses end for end; Promptly according to counterclockwise reversing end for end, reach record character " U " simultaneously and it is sent into the first path array according to sequencing, this moment, the first path array was " SU ".As shown in Figure 3, we can find out the crossing of a blind alley type of the every record of robot, just mean that robot walked wrong route, and this provides reference just for our next step optimization.
As shown in Figure 4, after the robot tune, got back to the crossing of process just now again, robot will turn left according to lefft-hand rule this moment, reach record character " L " simultaneously and it is sent into the first path array according to sequencing, and this moment, the first path array was " SUL ".
As shown in Figure 5, robot continues to keep straight on along pipeline, has just run into four crossway.To turn left according to lefft-hand rule, and reach record character " L " simultaneously and it is sent into the first path array according to sequencing, this moment, the first path array was " SUL ".
As shown in Figure 6, next robot runs into the crossing of described just now blind alley type again, and the action of turning around is still done by robot.Write down character " U " simultaneously and it is sent into the first path array according to sequencing, this moment, the first path array was " SULLU ".
As shown in Figure 7, robot turns around to run into said four crossway once more, and according to lefft-hand rule, left-hand rotation will be done by robot.Simultaneously, robot will be at a record left-hand rotation character " L " in the first path array.Character in the array of path has just become " SULLUL " like this.
As shown in Figure 8, after robot turns left, run into the crossing of described blind alley type for the third time, the action of turning around is still done by robot.Write down character " U " simultaneously and it is sent into the first path array according to sequencing, this moment, the first path array was " SULLULU ",
As shown in Figure 9, after turning around, robot runs into the crossroad once more, will turn left according to lefft-hand rule.Same robot writes down a character " L " in the first path array.Character in the first path array just becomes " SULLULUL " at this moment.
Shown in figure 10, after robot walks out " crossroad ", will run into or the craspedodrome crossing.According to lefft-hand rule, robot will turn left.In the array of path, write down a character " L " simultaneously.This moment, robot went to the outlet in line labyrinth, accomplished the footpath of patrolling to said labyrinth pipeline.The first path array of therefore patrolling the footpath route the formed first time through the lefft-hand rule control strategy is " SULLULULL "
Can analyze and obtain, when robot turns around to get back to first crossing (also being the 3rd crossing in the robot traveling process) for the first time, according to lefft-hand rule, robot will turn left, and is as shown in Figure 4.At this time, robot will write down the character " L " of a left-hand rotation in the array of path.Character in the array of path has just become " SUL " like this.And optimal path should be not comprise blind alley or error exit, therefore in optimizing process, should " SUL " be replaced with " R " and just can avoid getting into the blind alley; In like manner,, explain to have comprised blind alley or error exit in this path, also need in optimizing process, " LUS " usefulness " R " be replaced if occur monogram " LUS " in the array of path.
Robot will turn left and write down character " L " when running into the crossroad for the first time; The tune second time and record character " L " need be carried out in robot entering blind alley then; Run into the crossroad after tune is returned again and turn left to write down simultaneously character " L "; Therefore robot should not turn left when running into the crossroad for the first time, but should keep straight on, and so just can avoid the blind alley.So the monogram " LUL " in the first path array just should be replaced by craspedodrome character " S ", when on behalf of robot, this just pass through this labyrinth once more, running into first crossroad will keep straight on.
Therefore, the concrete simplification control method to the first path array is when said control strategy is lefft-hand rule:
In the first path array; Search monogram " SUL " or " LUS " or " LUL " successively from first letter beginning; When finding first monogram " SUL ", " LUS " or " LUL "; Stop to continue to search and monogram " SUL " or " LUS " being replaced with " R ", or monogram " LUL " is replaced with " S ".
Again from first letter beginning, search monogram " SUL " or " LUS " or " LUL " once more; When finding first monogram " SUL " or " LUS " or " LUL " once more, stop to continue to search and monogram " SUL " or " LUS " being replaced with " R ", or monogram " LUL " is replaced with " S ".
Repeat above lookup method, when in the array of above-mentioned path, searching, finish to search, and the path array that will form at last is as the second path array less than monogram " SUL ", " LUS " or " LUL ".
The promptly above first path array that writes down in the process of footpath of patrolling for the first time is " SULLULULL "; At first search monogram " SUL ", " LUS " or " LUL " successively from first letter beginning; When finding first monogram " SUL "; Stop to continue to search and monogram " SUL " being replaced with " R ", the first path array becomes " RLULULL "; Again from first letter beginning, search monogram " SUL ", " LUS " or " LUL " once more; When finding first monogram " LUL " once more, stop to continue to search and monogram " LUL " being replaced with " S ", this moment, the first path array became " RSULL "; Continue to search more than the repetition; Another finds monogram " SUL "; Stop to search this moment; And " SUL " replaced with " R ", when in the said first path array, can not find out monogram " SUL ", " LUS " or " LUL ", stop searching and finally being reduced to the second path array " RRL ".
Shown in figure 11, when robot passed through this labyrinth pipeline once more, robot just no longer followed lefft-hand rule, and the prompting of the character in the second path array of calculating according to controller is accomplished ROBOT CONTROL.This path, just the solid-line paths shown in Figure 11 is the shortest path in the whole labyrinth, just optimal path.
In conjunction with Figure 12-shown in Figure 180; The present invention provides among the another kind of embodiment labyrinth pipe robot independently to patrol the footpath algorithm, and the control strategy of the labyrinth pipe robot shown in Figure 12-Figure 18 is a right-hand rule, when robot passes through this labyrinth for the first time; Promptly adopt " right-hand rule " strategy to control its course; Patrol in the process in footpath at pipeline, will run on the way has some crossings, and the controller of robot interior will whenever carry out record through the direction at a crossing.
According to the control embodiment of above-mentioned lefft-hand rule, entrance is to the control path of outlet from the labyrinth in robot in the present embodiment, and promptly the first path array is " RRURURRUS ".
Through analyzing, in the present embodiment, robot should not turn right when running into the crossroad for the first time, but should keep straight on, and so just can avoid the blind alley.So the monogram " RUR " in the first path array just should be replaced by craspedodrome character " S "; Robot is when the highway section that runs into for the first time right-hand rotation, tune, keeps straight on or keep straight on, reverses end for end, turns right; Explain that robot has run into tune; Therefore walked wrong route, promptly run into " RUS " perhaps during " SUR " highway section, should when running into this residing crossing, highway section, just turn left; Promptly " RUS " perhaps " SUR " should be optimized for " L ", replace monogram " RUS " or " SUR " with character " L ".Tune described in the present embodiment is meant that robot reverses end for end according to CW.
Therefore, the concrete simplification control method to the first path array is when said control strategy is right-hand rule:
In the first path array; Search monogram " SUR ", " RUS " or " RUR " successively from first letter beginning; When finding first monogram " SUR ", " RUS " or " RUR "; Stop to continue to search and monogram " SUR " or " RUS " being replaced with " L ", or monogram " RUR " is replaced with " S ";
Again from first letter beginning, search monogram " SUR ", " RUS " or " RUR " once more; When finding first monogram " SUR ", " RUS " or " RUR " once more, stop to continue to search and monogram " SUR " or " RUS " being replaced with " L ", or monogram " RUR " is replaced with " S ";
Repeat above-mentioned lookup method, when in the array of above-mentioned path, searching, finish to search, and the path array that will form at last is as the second path array less than monogram " SUR ", " RUS " or " RUR ".
In the foregoing description, through above optimization method, be optimized for " RLL " in the described first path array " RRURURRUS " group, shown in figure 18, this path is the best of the robot in this enforcement and makes an inspection tour route.
Shown in figure 18, when robot passed through this labyrinth pipeline once more, robot just no longer followed right-hand rule, and the prompting of the character in the second path array of calculating according to control is accomplished ROBOT CONTROL.This path, just the solid-line paths shown in Figure 18 is the shortest path in the whole labyrinth, just optimal path.
Although through can reality patrolling the directly optimization of route to pipe robot with upper type, run into the lateral that said pipeline comprises that many head and the tail are interconnected successively, this lateral surrounds a polygonized structure; And when the outlet of pipeline is arranged in the space that polygonized structure surrounds; No matter the circuit that lefft-hand rule or right-hand rule are formed is optimized, said pipe robot result gets back to original porch, can not find the outlet of pipeline; Even therefore the said footpath route that patrols is optimized through above control method; Can not help robot to walk out the outlet of pipeline, therefore as another kind of embodiment of the present invention, the present invention provides a kind of pipe robot independently to patrol the footpath algorithm; Can realize that pipe robot finds the outlet of this pipeline smoothly, accomplish the footpath of patrolling this kind pipeline.
The pipeline of the following stated is meant the lateral that comprises that many head and the tail are interconnected successively, and this lateral surrounds a polygonized structure, and the outlet of pipeline is arranged in the space that polygonized structure surrounds.
The footpath algorithm that independently patrols of pipe robot provided by the invention may further comprise the steps, and at first is optimized according to the primary footpath route that patrols of above method to said pipe robot, promptly
Step 1; Direct of travel during each crossing of recorder people process also forms the first path array of being made up of letter; Wherein, If said robot turns left in corresponding intersection then writes down a letter " L ", if said robot turns right in corresponding intersection then writes down a letter " R ", if said robot keeps straight in corresponding intersection then writes down a letter " S "; If during the tune of said robot then write down a letter " U ", the last letter that writes down forms the said first path array in proper order according to the walking of robot.
Step 2; Patrolling the footpath control strategy according to robot simplifies the first path array and forms the second path array; Wherein, When control strategy was lefft-hand rule, the monogram " SUL " in the first path array or " LUS " is alternative with letter " R ", monogram " LUL " usefulness " S " substituted, and forms the said second path array; When control strategy was right-hand rule, the monogram " SUR " in the first path array or " RUS " is alternative with letter " L ", monogram " RUR " substituted and forms the said second path array with S; Simultaneously, store the said second path array.
The said then footpath algorithm that patrols may further comprise the steps again:
Step 3 is controlled said robot and according to the second path array said pipeline is patrolled the footpath again.
If control strategy is a lefft-hand rule; Keep straight on or turn right when then advancing to the crossing that is denoted as L according to the indication of the second path array; Turn right when perhaps advancing to the crossing that is denoted as S, continue to advance up to walking out said outlet and said whole travel line being write down formation Third Road footpath array according to lefft-hand rule or right-hand rule control robot thereafter;
If control strategy is a right-hand rule; Keep straight on when then advancing to the crossing that is denoted as R or turn left according to the indication of the second path array; Turn left when perhaps advancing to the crossing that is denoted as S, continue to advance up to walking out said outlet and said whole travel line being write down formation Third Road footpath array according to lefft-hand rule or right-hand rule control robot thereafter;
Step 4, storage Third Road footpath array is controlled said robot simultaneously and according to said Third Road footpath array this pipeline is carried out the footpath of patrolling next time.
As a kind of preferred embodiment of the present invention, in the said step 3, when control strategy is lefft-hand rule,
31; Control said robot the N time and said pipeline is patrolled the footpath again according to the second path array; In patrolling the footpath process, when running into N and be denoted as the crossing of " L " or " S ", said sign " L " is revised as " S " or " R "; Maybe will indicate " S " and be revised as " R "; Control robot is advanced according to amended sign at this crossing, and control robot continues to advance according to lefft-hand rule or right-hand rule in control procedure thereafter simultaneously, writes down the direct of travel at each crossing in the whole traveling process simultaneously;
, 32, then accomplish this and patrol the footpath and write down this time and patrol that the direct of travel through each crossing forms said the 3rd group of path array in the footpath if arrive said outlet; If not, N adds up 1, and returns 31;
Wherein said N is an integer, and the initial value of N is 1, the maximal value of N be letter " L " and " S " in the second path array number with.
When control strategy is right-hand rule,
31 '; Control said robot the M time and said pipeline is patrolled the footpath again according to the second path array; In patrolling the footpath process, when running into M and be denoted as the crossing of " R " or " S ", said sign L is revised as " S " or " L "; Maybe will indicate " S " and be revised as " L "; Control robot is advanced according to amended sign at this crossing, and control robot continues to advance according to lefft-hand rule or right-hand rule in control procedure thereafter simultaneously, writes down the direct of travel at each crossing in the whole traveling process simultaneously;
32 ', then accomplish this and patrol the footpath and write down this time and patrol that the direct of travel through each crossing forms said the 3rd group of path array in the footpath if arrive said outlet; If not, M adds up 1, and returns 31 ';
Wherein said M is an integer, and the initial value of M is 1, the maximal value of M be letter " R " and " S " in the second path array number with.
Below in conjunction with accompanying drawing, the pipe robot among the present invention is patrolled the footpath algorithm do further to detail.
Shown in figure 19; Diagram has provided a kind of pipeline, and said pipeline comprises the lateral that many head and the tail are interconnected successively, and this lateral surrounds a polygonized structure; And the outlet of pipeline is arranged in the space that polygonized structure surrounds; Said pipe robot gets into from inlet, according to the control strategy of lefft-hand rule or right-hand rule said pipeline is patrolled the footpath, and the dashed path shown in the figure is robot carries out line walking according to lefft-hand rule path; Shown double dot dash line is robot carries out line walking according to right-hand rule path; Can obtain these two kinds of line walking paths and can make all that finally robot returns to the inlet of said pipeline, can't search out the outlet of pipeline, therefore can't accomplish the footpath of patrolling said pipeline.
According to above-mentioned control algolithm, like Figure 20, according to the control strategy of lefft-hand rule, patrol police's route of robot is " SLULULSLULULSLULULL ".This patrols the footpath route and is the first path array; According to above-described optimization method this path array is optimized; The second path array of optimizing back formation is " SRSRSRL "; Even therefore robot patrols directly this pipeline once more according to the optimized path array and still can not deal with problems, still can return to the porch of pipeline, so this just need analyze to each crossing of said pipeline; Because adopted the lefft-hand rule control strategy; There is no need to consider that the crossing that is denoted as " S " also has dextrad not pass by that at the crossing that the acceptance of the bid of the second path array is shown " R " crossing that is denoted as " L " then need travel through the residue both direction so.If this crossing does not remain direction certainly, directly skip.
Therefore; Control said robot and according to the second path array said pipeline is patrolled the footpath again for the first time; In patrolling the footpath process, when running into first and be denoted as the crossing of " L " or " S ", said sign " L " is revised as " S " or " R "; Maybe will indicate " S " and be revised as " R "; Control robot is advanced according to amended sign at this crossing, and control robot continues to advance according to lefft-hand rule or right-hand rule in control procedure thereafter simultaneously, writes down the direct of travel at each crossing in the whole traveling process simultaneously;
Shown in figure 21; Because the second path array is " SRSRSRL "; Therefore first crossing that is denoted as " L " or " S " is first letter " S ", and this sign is revised as " R ", and promptly pipe robot should be turned right at this crossing; Control robot continues to advance according to lefft-hand rule or right-hand rule in control procedure thereafter simultaneously; Need to prove that patrolling directly after revise indicating the crossing advanced in the pipeline and can be adopted left hand or right-hand rule, this and initial control strategy are that it doesn't matter for left hand or right-hand rule.Dotted line line walking circuit shown in the figure is the circuit of advancing according to lefft-hand rule control strategy control robot, and this circuit is arrival exit and be recorded in this circuit direct of travel through each crossing and form Third Road footpath array and be " RLL " smoothly; Double dot dash line line walking circuit shown in the figure is the circuit of advancing according to right-hand rule control strategy control robot, can find out that this patrols the footpath route and can make that again robot returns to the inlet of said pipeline, can't go to the outlet of this pipeline.
If above-described control algolithm does not all have smooth control robot to find the outlet of pipeline; To control said pipe robot so and again said pipeline patrolled the footpath according to the second original path array (promptly not being to patrol the second path array through revising in the footpath by the second path array for the first time) for the second time; In patrolling the footpath process; When running into second crossing that is denoted as " L " or " S "; Said sign " L " is revised as " S " or " R ", maybe will indicates " S " and be revised as " R ", control robot is advanced according to amended sign at this crossing; Control robot continues to advance according to lefft-hand rule or right-hand rule in control procedure thereafter simultaneously, writes down the direct of travel at each crossing in the whole traveling process simultaneously.
In conjunction with shown in Figure 22; This moment, the second path array was second letter " S " for the crossing that " SRSRSRL " second is denoted as " L " or " S "; This sign is revised as " R "; Be that pipe robot should be turned right at this crossing, control robot continues to advance according to lefft-hand rule or right-hand rule in control procedure thereafter simultaneously, and the dotted line line walking circuit shown in the figure is the circuit of advancing according to lefft-hand rule control strategy control robot; Double dot dash line line walking circuit shown in the figure is the circuit of advancing according to right-hand rule control strategy control robot; Can find out under above two kinds of control strategies patrol the footpath circuit can make that all robot returns to the porch of pipeline; Uncontrollable said pipe robot is gone to the outlet of said pipeline, therefore controls said pipe robot and again said pipeline is patrolled the footpath again.Promptly control said robot and according to the second path array said pipeline is patrolled the footpath again for the third time; In patrolling the footpath process; When running into the 3rd crossing that is denoted as " L " or " S "; Said sign " L " is revised as " S " or " R ", maybe will indicates " S " and be revised as " R ", control robot is advanced according to amended sign at this crossing; Control robot continues to advance according to lefft-hand rule or right-hand rule in control procedure thereafter simultaneously, writes down the direct of travel at each crossing in the whole traveling process simultaneously.
Shown in figure 23; The second path array is " SRSRSRL "; Therefore the 3rd crossing that is denoted as " L " or " S " is the 3rd letter " S "; This sign is revised as " R ", and promptly pipe robot should be turned right at this crossing, and control robot continues to advance according to lefft-hand rule or right-hand rule in control procedure thereafter simultaneously; Dotted line line walking circuit shown in the figure is the circuit of advancing according to lefft-hand rule control strategy control robot, and this circuit is arrival exit and be recorded in this circuit direct of travel through each crossing and form Third Road footpath array and be " SRSRR " smoothly; Double dot dash line line walking circuit shown in the figure is the circuit of advancing according to right-hand rule control strategy control robot, can find out this circuit arrival exit and be recorded in this circuit direct of travel through each crossing and form Third Road footpath array and be " SRSRR " smoothly.
If in the above control procedure still be the outlet that uncontrollable said pipe robot is gone to pipeline; Then control said robot the N time and said pipeline is patrolled the footpath again according to the second path array; In patrolling the footpath process, when running into N and be denoted as the crossing of " L " or " S ", said sign " L " is revised as " S " or " R "; Maybe will indicate " S " and be revised as " R "; Control robot is advanced according to amended sign at this crossing, and control robot continues to advance according to lefft-hand rule or right-hand rule in control procedure thereafter simultaneously, writes down the direct of travel at each crossing in the whole traveling process simultaneously; Said robot goes to the outlet of pipeline up to control, and writes down this time and patrol in the footpath and form said the 3rd group of path array through the direct of travel at each crossing.
Among the above embodiment, said N is an integer, and the initial value of N is 1, the maximal value of N be letter " L " and " S " in the second path array number with.
In conjunction with shown in Figure 24, provided according to the right-hand rule control strategy, control robot is independently patrolled the embodiment of footpath algorithm, and the second path array after optimizing in the present embodiment is " RLSLSLS ".
31 '; Control said robot the M time and said pipeline is patrolled the footpath again according to the second path array; In patrolling the footpath process, when running into M and be denoted as the crossing of " R " or " S ", said sign R is revised as " S " or " L "; Maybe will indicate " S " and be revised as " L "; Control robot is advanced according to amended sign at this crossing, and control robot continues to advance according to lefft-hand rule or right-hand rule in control procedure thereafter simultaneously, writes down the direct of travel at each crossing in the whole traveling process simultaneously;
32 ', then accomplish this and patrol the footpath and write down this time and patrol that the direct of travel through each crossing forms said the 3rd group of path array in the footpath if arrive said outlet; If not, M adds up 1, and returns 31 ';
Wherein said M is an integer, and the initial value of M is 1, the maximal value of M be letter " R " and " S " in the second path array number with.
Therefore; When control robot was patrolled the footpath according to the second path array for the first time, " S " was revised as at the crossing that first is denoted as " R ", and promptly pipe robot should be kept straight at this crossing; Control robot continues to advance according to lefft-hand rule or right-hand rule in control procedure thereafter simultaneously; In conjunction with shown in Figure 25, robot can go to the outlet of pipeline smoothly under the control of right-hand rule, and this moment, formed Third Road footpath array was " SRRRUSURRRR ".
Among the above embodiment; Judge that said ROBOT CONTROL strategy is lefft-hand rule or right-hand rule; Can judge according to the first path array of controller record; The letter of analyzing in the first path array is formed, when comprising letter " L " in the first path array, said robot to patrol the footpath control strategy be lefft-hand rule.In like manner, when comprising letter " R " in the first path array, said robot patrol the footpath control strategy be right-hand rule.
Among the above embodiment, for said pipeline, opening entry first path array when said robot gets into the inlet of pipeline, the end record first path array when returning the outlet of said labyrinth pipeline.
The present invention also provides a kind of robot, and said robot interior has controller, and said controller has above-described labyrinth pipe robot and independently patrols the footpath algorithm; Said robot patrols the footpath according to existing control strategy when for the first time pipeline being patrolled the footpath; The footpath algorithm that independently patrols through above-mentioned is optimized and forms the second path array to the first path array that is write down; And the said second path array further revised form said Third Road footpath array; Said controller is controlled said robot according to Third Road footpath array said pipeline is carried out the later directly operation of patrolling, and has effectively improved the efficient that the labyrinth pipe robot patrols the footpath.
The above is merely preferred embodiment of the present invention, not in order to restriction the present invention, all any modifications of within spirit of the present invention and principle, being done, is equal to and replaces and improvement etc., all should be included within protection scope of the present invention.
Claims (10)
1. a pipeline crusing robot independently patrols the footpath algorithm; Said pipeline comprises the lateral that many head and the tail are interconnected successively; Many said lateral surrounds a polygonized structure; And the outlet of pipeline is arranged in the space that polygonized structure surrounds, and it is characterized in that, said pipeline crusing robot independently patrols the footpath algorithm and may further comprise the steps:
Step 1; Direct of travel when writing down said robot through each crossing also forms the first path array of being made up of letter; Wherein, If said robot turns left at the crossing then writes down a letter " L ", if said robot turns right at the crossing then writes down a letter " R ", if said robot keeps straight at the crossing then writes down a letter " S "; If during the tune of said robot then write down a letter " U ", the last letter that writes down forms the said first path array in proper order according to the walking of robot;
Step 2; Patrolling the footpath control strategy according to robot simplifies the first path array and forms the second path array; Wherein, When said control strategy was lefft-hand rule, the monogram " SUL " in the first path array or " LUS " is alternative with letter " R ", monogram " LUL " usefulness " S " substituted, and forms the said second path array; When said control strategy was right-hand rule, the monogram " SUR " in the first path array or " RUS " is alternative with letter " L ", monogram " RUR " substituted with S, forms the said second path array; Simultaneously, store the said second path array;
Step 3; Control said robot and said pipeline is patrolled the footpath according to the second path array; And the sign in the second path array made amendment, advance until walking out said outlet according to amended sign, said whole travel line is write down form Third Road footpath array;
Step 4, storage Third Road footpath array is controlled said robot simultaneously and according to said Third Road footpath array said pipeline is carried out the footpath of patrolling next time.
2. pipeline crusing robot according to claim 1 independently patrols the footpath algorithm, it is characterized in that in the said step 3, when control strategy was lefft-hand rule, step 3 specifically may further comprise the steps:
31, control robot is patrolled the footpath according to the second original path array to said pipeline; When N is designated as the crossing of " L " or " S " in running into the said second path array; Said sign " L " is revised as " S " or " R "; Maybe will indicate " S " and be revised as " R ", and control robot advances according to amended sign at the crossing that this modification indicates, and control robot continues to advance according to lefft-hand rule or right-hand rule in the pipeline path of the back, crossing that said modification indicates;
32, arrive said outlet if the footpath is patrolled in this time, then write down the direct of travel that each crossing of process in the footpath is patrolled in this time, form said the 3rd group of path array; If not, N adds up 1, and returns step 31;
Wherein said N is an integer, and the initial value of N is 1, the maximal value of N be letter " L " and " S " in the second path array number with.
3. pipeline crusing robot according to claim 1 independently patrols the footpath algorithm, it is characterized in that in the said step 3, when control strategy was right-hand rule, step 3 specifically may further comprise the steps:
31 ', the said robot of control patrols the footpath according to the second original path array to said pipeline; When M is denoted as the crossing of " R " or " S " in running into the said second path array; Said sign R is revised as " S " or " L "; Maybe will indicate " S " and be revised as " L "; Control robot is advanced according to amended sign at the crossing of this modified logo, and control robot continues to advance according to lefft-hand rule or right-hand rule in the pipeline path of the back, crossing that said modification indicates;
32 ', arrive said outlet if the footpath is patrolled in this time, then write down the direct of travel that each crossing of process in the footpath is patrolled in this time, form said the 3rd group of path array; If not, M adds up 1, and returns step 31 ';
Wherein said M is an integer, and the initial value of M is 1, the maximal value of M be letter " R " and " S " in the second path array number with.
4. pipeline crusing robot according to claim 1 independently patrols the footpath algorithm, it is characterized in that in the said step 2, the concrete simplification control method to the first path array when said control strategy is lefft-hand rule is:
Step S100; In the first path array; Search monogram " SUL ", " LUS " or " LUL " successively from first letter beginning; When finding first monogram " SUL ", " LUS " or " LUL ", stop to continue to search and monogram " SUL " or " LUS " being replaced with " R ", or monogram " LUL " is replaced with " S ";
Step S110 from first letter beginning, searches monogram " SUL ", " LUS " or " LUL " again once more; When finding first monogram " SUL ", " LUS " or " LUL " once more, stop to continue to search and monogram " SUL " or " LUS " being replaced with " R ", or monogram " LUL " is replaced with " S ";
Step S120, repeating step S110 when in the said first path array, not having monogram " SUL ", " LUS " or " LUL ", finishes to search, and the first path array is simplified the final path array that forms in back as the second path array.
5. independently patrol the footpath algorithm according to the said pipeline crusing robot of claim 1, it is characterized in that in the said step 2, the concrete simplification control method to the first path array when said control strategy is right-hand rule is:
Step S200; In the first path array; Search monogram " SUR ", " RUS " or " RUR " successively from first letter beginning; When finding first monogram " SUR ", " RUS " or " RUR ", stop to continue to search and monogram " SUR " or " RUS " being replaced with " L ", or monogram " RUR " is replaced with " S ";
Step S210 from first letter beginning, searches monogram " SUR ", " RUS " or " RUR " again once more; When finding first monogram " SUR ", " RUS " or " RUR " once more, stop to continue to search and monogram " SUR " or " RUS " being replaced with " L ", or monogram " RUR " is replaced with " S ";
Step S220, repeating step S210 when in the said first path array, not having monogram " SUR ", " RUS " or " RUR ", finishes to search, and the first path array is simplified the final path array that forms in back as the second path array.
6. pipeline crusing robot according to claim 1 independently patrols the footpath algorithm; It is characterized in that in said step 2, the letter of analyzing in the first path array is formed; When comprising letter " L " in the first path array, said robot patrol the footpath control strategy be lefft-hand rule.
7. pipeline crusing robot according to claim 1 independently patrols the footpath algorithm; It is characterized in that in said step 2, the letter of analyzing in the first path array is formed; When comprising letter " R " in the first path array, said robot patrol the footpath control strategy be right-hand rule.
8. independently patrol the footpath algorithm according to the described any pipeline crusing robot of claim 1-7; It is characterized in that; Said robot is the opening entry first path array after getting into the inlet of pipeline, the end record first path array when returning the inlet of said labyrinth pipeline.
9. robot, said robot interior has controller, it is characterized in that, and said controller has the described pipeline crusing robot of above-mentioned any claim and independently patrols the footpath algorithm.
10. robot according to claim 9 is characterized in that, said controller is controlled said robot according to Third Road footpath array said pipeline is patrolled the footpath.
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