CN103672293B - The amphibious working pipe pipeline robot of a kind of multi-dimensions test - Google Patents
The amphibious working pipe pipeline robot of a kind of multi-dimensions test Download PDFInfo
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- CN103672293B CN103672293B CN201310690884.3A CN201310690884A CN103672293B CN 103672293 B CN103672293 B CN 103672293B CN 201310690884 A CN201310690884 A CN 201310690884A CN 103672293 B CN103672293 B CN 103672293B
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- crawler belt
- main
- vehicle frame
- control box
- pipe robot
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Classifications
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
- F16L55/00—Devices or appurtenances for use in, or in connection with, pipes or pipe systems
- F16L55/26—Pigs or moles, i.e. devices movable in a pipe or conduit with or without self-contained propulsion means
- F16L55/28—Constructional aspects
- F16L55/30—Constructional aspects of the propulsion means, e.g. towed by cables
- F16L55/32—Constructional aspects of the propulsion means, e.g. towed by cables being self-contained
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
- F16L2101/00—Uses or applications of pigs or moles
- F16L2101/10—Treating the inside of pipes
- F16L2101/12—Cleaning
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
- F16L2101/00—Uses or applications of pigs or moles
- F16L2101/30—Inspecting, measuring or testing
Abstract
The invention discloses the amphibious pipeline operations of a kind of multi-dimensions test robot, belong to pipe robot field. Its car body comprises: vehicle frame, left main track assembly and right main track assembly, crawler belt angle adjusting mechanism, sonar fixed mount, Sonar Probe, camera crane, image unit, secondary light source, electronic control box, electronic control box sliding door and cable hitch frame. Main crawler belt is arranged on the left and right sides, car body below by crawler belt shaft hole position. Crawler belt angle adjusting mechanism is set between main crawler belt, and main crawler belt can outwards be adjusted to some angles, is splayed. Sonar Probe is arranged on vehicle frame by sonar fixed mount. Camera crane one end is arranged on vehicle frame, and the other end is installed image unit and secondary light source. Pipe robot of the present invention has advantages of compact conformation, handling capacity is strong, synthetic job ability is perfect.
Description
Technical field
The present invention relates to a kind of pipe robot, be specifically related to a kind of for pipeline multi-dimensions test and amphibious pipeline operationsRobot.
Background technology
Pipe robot is a kind of equipment that can creep and carry out the operations such as detection, cleaning or maintenance in pipeline.It can use IMAQ and image processing techniques, the information processing technology, mechanical engineering, sensor technology, electronics workJourney, automation control engineering, computer engineering and artificial intelligent control system, in conjunction with real-time and embedded technique, soundThe Detection Techniques etc. received complete small space (pipeline) remote (5 kilometers) and detect and operation. Pipe robot can be applicable to cityMultiple fields danger such as political affairs pipe network, electric power, oil, military affairs, archaeology, the artificial remote complex environment that cannot arriveLower multi-dimensions test and implement.
Use at present more pipe robot length over ends of body between 300-600mm, wide height is at 100-300mmBetween. The common water resistance of current pipe robot is poor, allows to be immersed in water. If but the depth of water exceedes300mm, or have a small amount of mud under water, conventional pipe robot just cannot carry out testing. In addition, currentPipe robot detects normally tens meters of distances, and maximum is no more than 300m.
Conventional pipe robot, before pipe detection construction, requires to close the inlet valve of pipeline, drains ductedWater, affects the use of pipeline. And the major trunk roads of drainage pipeline networks can not be closed, there is all the time water flow, current pipePipeline robot is difficult to carry out detection and operation conventionally. Distance between two adjacent well heads of the major trunk roads of drainage pipeline networks canCan reach 1 km to several kms, the conventional pipe robot that car body size is less is difficult to execute in drainage pipeline networks major trunk roadsWork.
Summary of the invention
For overcoming the above-mentioned defect of pipe robot, need to develop that a kind of build is large, handling capacity is strong, synthetic jobThe pipe robot that ability is perfect, and focus on improving the water resistance of pipe robot, be used for carrying out drainage pipeline networks trunkDetection in road and operation.
The invention provides the amphibious working pipe pipeline robot of a kind of multi-dimensions test, wherein pipe robot car body comprises: carFrame, left main track assembly and right main track assembly, crawler belt angle adjusting mechanism, sonar fixed mount, Sonar Probe, takes the photographA picture crane, image unit, secondary light source, electronic control box, electronic control box sliding door and cable hitch frame;Left main crawler belt and right main crawler belt are arranged on the left and right sides, car body below by crawler belt shaft hole position; Left main crawler belt and right main shoeCrawler belt angle adjusting mechanism is set between band, and left main crawler belt and right main crawler belt can outwards be adjusted to some angles, areSplayed; Sonar Probe is arranged on vehicle frame by sonar fixed mount; Camera crane one end is arranged on vehicle frame anotherImage unit and secondary light source are installed in one end; Left main track assembly, right main track assembly, crawler belt angle adjusting mechanism,Sonar fixed mount, camera crane, electronic control box and the equal diameter of cable hitch frame are arranged on vehicle frame.
Track structure can realize that ground supports area is large, and grounding pressure is little, and rolling friction is little, by better performances,Radius of turn is little, draws adhesion property, off-road mobility, climbing, gets over the performances such as ditch. The Eight characters of above-mentioned both sides crawler beltShape set-up mode, can improve on the one hand the frictional force of crawler belt and tube wall, can avoid on the other hand pipe bottom sludge andHis deposit.
Preferably, electronic control box is arranged on vehicle frame top, is provided with multiple electronic control box solid in the plane of vehicle frameDetermine position, hole, electronic control box can be closely cooperated with vehicle frame.
Above-mentioned overall structure mode is saved space, has also improved the bulk strength of pipe robot car body simultaneously.
Preferably, vehicle frame is formed as main skeleton by two tubing that are parallel to each other, and between two tubing, passes throughMultiple cross rib osteomeres are connected. Two tubing being parallel to each other and rib elements have formed holding of electronic control box jointlyGroove, electronic control box can be generally housed in the holding tank of vehicle frame top formation, is also distributed with multiple electronics in rib elementsControl cabinet fixed hole position, when electronic control box is fixed on vehicle frame, electronic control box and vehicle frame form overall structure.
These rib elements form stable body frame structure for automotive body, rib on the other hand jointly with two parallel pipes on the one handPart has also formed the installed surface of multiple other parts of pipe robot. Car body design has been considered the integrated of each functional partInstallation requirement, body frame structure for automotive is simple, but function compactness, bulk strength is high, reasonable in design.
Further preferred, be positioned at and in the rib elements at two parallel pipe two ends of vehicle frame, be provided with respectively both sides crawler belt and turnAxis hole position, crawler belt angular adjustment shaft hole position, angular adjustment axle rotary handle, angle orientation hole and sonar fixed mount holePosition.
Further preferred, two parallel pipe both sides are provided with camera assembly near parallel pipe position fin are installed,This fin is provided with many group crane fixed hole positions, is respectively used to install camera crane and can locates air spring, takes the photographAs a crane with can locate air spring and be arranged on along the Kong Weizhong of two parallel pipe bearing of trend diverse locations; TwoThe position that stands away, root parallel pipe both sides, is also provided with the installation fin of cable hitch frame, outside this installation finPortion is provided with the limited block of cable hitch frame connecting axle and cable guide bracket.
(for example: adjust body gravity or change shooting operating direction) adjusts mounting hole site according to actual needs. LineThe installation fin of cable hitch frame leaves two parallel pipe one segment distances, thereby makes camera crane and cable hitch frameBetween be independent of each other preferably, the adjusting rotating shaft of crawler belt angle adjusting mechanism is arranged on the crawler belt angular adjustment rotating shaft of vehicle frameKong Weizhong.
Crawler belt angle adjusting mechanism and left and right main crawler belt are all combined with vehicle frame.
Preferably, left main crawler belt and right main crawler belt front arrange respectively preposition left redundant crawler belt and preposition right redundant crawler belt.Preposition left redundant crawler belt and preposition right redundant crawler belt comprise auxiliary crawler main driving wheel, auxiliary crawler belt, and auxiliary crawler belt driven pulley,Auxiliary crawler rack, disc type reducing motor and outer casing.
The use of auxiliary crawler belt has improved the obstacle climbing ability of crawler belt climbing robot. In the time of robot obstacle detouring, nearly feel passesSensor sends to general control system running into front obstacle, and general control system judges whether to cross. If judgement knotFruit can cross, and controls front swing arm drive motors and upwards rotates, and makes forward swing upwards lift certain angle. Move onTime front side Athey wheel be lifted away from ground, Athey wheel below land continue drive crawler belt advance. Crawler belt is relying on secondary carrying outThe frictional force of band and grouser realize constantly upwards climbing to the power of climbing of grabbing of barrier.
Preferably, the left main track assembly of pipe robot and right main track assembly comprise: main crawler belt outer panel, and mainCrawler belt interior plate, main crawler belt, auxiliary crawler belt fixed bit, motor control box, driving wheel, pinch roller, driven pulley and snailWorm and gear reducing motor.
Main track assembly is integrated into overall structure, has improved the reliability of system, and makes it easy to install and change.Car body drives respectively two crawler belts by two stepper motors, and while driving with identical pulse, realize straight ahead or retreat, withWhen different pulsed drive, can realize curvilinear motion. Can rotatablely moving around fixed axis when with contrary pulsed drive. ShouldAxle cross main driven shaft the geometric center of definite plane.
Preferably, the installation site of Sonar Probe is not higher than the horizontal level of vehicle frame.
Make pipe robot be suitable for amphibious operation, when car body enters half while diving or entirely dive working method, Sonar ProbeCan survey the pipeline form of underwater portion.
Preferably, image unit comprises: all-direction multi-functional video camera, swings hemisphere, main light source and varifocal/changeTimes camera movement; All-direction multi-functional video camera can automatic/hand zoom, 10 times of optics+10 times digital zooms,210 degree swing, 360 degree rotations; Crane also disposes can locate air spring.
The present invention also provides a kind of pipe robot system that comprises above-mentioned any one pipe robot, this pipe machineDevice robot system also comprises take up reel and controller; Take up reel comprises: take up reel car body, and metering structure, metering structure is slidingLever, emergency stop switch, main line dish, composite cable, take up reel handle, by-pass dish, protection wirerope, retractable cable handle,Wheel, controls cable interface, power switch; An optical transmitter and receiver is equipped with in take up reel inside, by composite cable with creepRobot connects; Receive and dispatch 485 communication datas and receiving video signals; Connect controller by controlling cable interface; MultipleClosing optical cable can send instructions under carrying equipment, receives the detection data of carrying equipment; When robot constructs in pipelineWhile breaking down, protection wirerope is for pulling equipment; Controller comprises: controller casing, liquid crystal touch screen, USBMouthful, network interface, digital transmission module antenna, heat dissipation ventilation mouth, power supply is opened and comprehensive cable socket; Comprehensive cable socket is connected toTake up reel.
Brief description of the drawings
Fig. 1 is the agent structure schematic diagram of pipe robot of the present invention;
Fig. 2 is the structural representation of the vehicle frame of pipe robot of the present invention;
Fig. 3 is the structural representation of the main track assembly of pipe robot of the present invention;
Fig. 4 is the structural representation of the preposition auxiliary track assembly of pipe robot of the present invention;
Fig. 5 is the structural representation of the crawler belt angle adjusting mechanism of pipe robot of the present invention
Fig. 6 is the schematic diagram of the sonar assembly of pipe robot of the present invention;
Fig. 7 is the schematic diagram of the image unit of pipe robot of the present invention;
Fig. 8 is the structural representation of the electronic control box of pipe robot of the present invention;
Fig. 9 is the structural representation of the take up reel of pipe robot of the present invention;
Figure 10 is the structure chart of the software systems master control platform of pipe robot of the present invention;
Figure 11 is the logic diagram of the interior master board of car body of pipe robot of the present invention;
Figure 12 is the logic chart of the motor closed-loop driving circuit of pipe robot of the present invention;
Figure 13 is the schematic diagram of the controller of pipe robot of the present invention;
Figure 14 is the main surface chart of the robot control software of pipe robot of the present invention;
Figure 15, Figure 16 are the logical flow charts of the control software of pipe robot of the present invention.
Specific embodiment
Core of the present invention is to provide a kind of pipe robot, and this pipe robot can be in complicated pipeline environmentComplete remote detection and operation function. In order to make those skilled in the art person understand better the present invention program, knot belowThe present invention is described in further detail to close the drawings and specific embodiments.
Fig. 1 is the agent structure schematic diagram of pipe robot of the present invention. As shown in the figure, pipe robot comprises: carFrame 101, left main track assembly, right main track assembly 103, crawler belt angle adjusting mechanism 102, preposition left redundant crawler beltAssembly, preposition right redundant track assembly 104, sonar fixed mount 105, Sonar Probe 106, camera crane 107,Image unit 108, secondary light source 109, electronic control box 110, electronic control box sliding door 111 and cable hitch frame112。
Pipe robot ground-engaging element of the present invention is crawler type, left main crawler belt, and right main crawler belt is by crawler belt shaft holePosition 201 is arranged on vehicle frame 101 left and right sides, below, respectively be arranged on the preposition left redundant crawler belt in its front and prepositionRight redundant crawler belt 104 forms the foot of pipe robot. Between left main crawler belt and right main crawler belt, crawler belt angular adjustment is setMechanism 102, in order to control and to change the angle between the foot of both sides, it is large that track structure can be realized ground supports area,Grounding pressure is little, and rolling friction is little, and by better performances, radius of turn is little, traction adhesion property, off-road mobility,Climb, get over the performances such as ditch.
Be furnished with Sonar Probe 106 in pipe robot front, Sonar Probe 106 connects via sonar fixed mount 105Be connected in the position, sonar fixed mount hole of vehicle frame 101. Pipe robot front upper is arranged the image unit of liftable motion108, image unit 108 is by the pivotable crane fixed hole position that is connected to vehicle frame 101 of camera crane 107203, camera crane 107 can rotate around the axle at crane fixed hole position 203 places, thereby realizes image unit 108Elevating movement; In addition, image unit 108 rears are also combined with the secondary light source 109 of lifting jointly. Electronics controlCase 110 processed is arranged on vehicle frame 101 tops, is provided with multiple electronic control box fixed hole positions 206 in the plane of vehicle frame 101,Electronic control box 110 can be closely cooperated with vehicle frame 101. Pipe robot of the present invention also disposes and can transport at itThe go forward cable hitch frame 112 of rear haulage of moving straight line, pivotable vehicle frame 101 left and right that are connected to of cable hitch frame 112On the cable hitch frame connecting axle 205 of both sides.
Fig. 2 is the structural representation of the vehicle frame 101 of pipe robot of the present invention. As shown in the figure, pipe robotVehicle frame 101 comprises crawler belt shaft hole position, both sides 201, crawler belt angular adjustment shaft hole position 202, and crane fixed hole position 203,Position, sonar fixed mount hole 204, cable hitch frame connecting axle 205, electronic control box fixed hole position 206.
Vehicle frame 101 is formed as main framing by two tubing that are parallel to each other, and passes through multiple horizontal strokes between two tubingBe connected to rib elements. These rib elements form stable body frame structure for automotive body jointly with two parallel pipes on the one hand, anotherRib elements has also formed the installed surface of multiple other parts of pipe robot on the one hand. Two parallel tubing and ribPart has also formed the holding tank of electronic control box 110 jointly, and electronic control box 110 is generally housed in vehicle frame 101 topsIn the holding tank forming, in rib elements, be also distributed with multiple electronic control box fixed hole positions 206, thus can be by electronics controlCase processed is firmly fixed on vehicle frame 101, and makes electronic control box 110 and vehicle frame 101 form overall structure, improvesThe bulk strength of pipe robot car body. Be positioned in the rib elements at two parallel pipe two ends of vehicle frame 101 and establish respectivelyPut crawler belt shaft hole position, both sides 201, crawler belt angular adjustment shaft hole position 202, angular adjustment axle rotary handle 506,Angle orientation hole 507 and position, sonar fixed mount hole 204. Two parallel pipe both sides are provided with and take the photograph near parallel pipe positionPicture assembly is installed fin, and this fin is provided with many group crane fixed hole positions 203, is respectively used to install camera crane107 and can locate air spring 701 (seeing Fig. 7), camera crane 107 and can locate air spring 701 and be arranged on along twoThe Kong Weizhong of root parallel pipe bearing of trend diverse location, also can be according to actual needs (for example: adjust body gravity orChange shooting operating direction) adjustment mounting hole site. The position that stands away two parallel pipe both sides, is also provided withThe installation fin of cable hitch frame 112, this installation fin outer setting has cable hitch frame connecting axle 205 and cable to drawThe limited block of saddle 112; The installation fin of cable hitch frame 112 leaves two parallel pipe one segment distances, thereby makesBetween camera crane 107 and cable hitch frame 112, be independent of each other. Pipe robot car body design of the present invention is examinedThe integrated installation requirement of having considered each functional part, body frame structure for automotive is simple, but function compactness, bulk strength is high, and design is closedReason.
Fig. 3 is the structural representation of the main track assembly of pipe robot of the present invention. As shown in the figure, pipe robotThe main crawler belt in left and right comprises: main crawler belt outer panel 301, and main crawler belt interior plate 309, main crawler belt 302, auxiliary crawler belt is fixedPosition 303, motor control box 304, driving wheel 305, pinch roller 306, driven pulley 307 and Worm reduction motor308 parts such as grade. Main track assembly is integrated into overall structure, has improved the reliability of system, and make it easy to install and moreChange.
Car body drives respectively two crawler belts by two stepper motors, while driving with identical pulse, realize straight ahead or afterMove back, during with different pulsed drive, can realize curvilinear motion. Can be around the rotation fortune of fixed axis when with contrary pulsed driveMoving. This axle cross main driven shaft the geometric center of definite plane.
The materials'use of robot crawler belt is crossed rubber and polyurethane crawler belt. Through experiment contrast, polyurethane material and groundFace contact property is better. The present invention's less and more wear-resisting polyurethane material of frictional force.
Fig. 4 is the structural representation of the preposition auxiliary track assembly of pipe robot of the present invention. As shown in the figure, pipelineThe preposition auxiliary crawler belt of robot comprises: auxiliary crawler main driving wheel 401, and auxiliary crawler belt 402, auxiliary crawler belt driven pulley 403,Auxiliary crawler rack 405, the parts such as disc type reducing motor 406 and outer casing 404.
The effect of auxiliary crawler belt is the obstacle climbing ability in order to improve crawler belt climbing robot. Due to pipe robot car bodyStructural limitations, arbitrarily large motor can not be installed. Should ensure enough power, select again volume as far as possibleLittle motor. To calculate the Motor torque power that need to provide according to the own wt of creeper truck and design load and tractive force.In the time of robot obstacle detouring, nearly sense sensor sends to general control system running into front obstacle, and general control system judgement isNo can crossing. If judged result can be crossed., control front swing arm drive motors and upwards rotate, forward swing is upwards liftedPlay certain angle. While moving on, the Athey wheel of front side is lifted away from ground, and Athey wheel below lands and continues to drive crawler beltAdvance. Crawler belt is realized constantly upwards climbing in the frictional force and the grouser that rely on secondary crawler belt to the power of climbing of grabbing of barrier.Be continued until that main crawler belt climbs to above barrier, robot continues climbing. The critical condition of obstacle of ascending be center of gravity moreCross on vertical barrier boundary line, just can climb up barrier as long as cross this boundary line. Therefore robot adopts three joints to carry outThe band kind of drive, carries out the motion transmission of driving wheel and driven pulley. For crawler belt can fully be contacted with ground, carryThe transmission efficiency of high crawler belt, the design of robot train adopts synchronous pulley method for designing.
In order to allow car body crawler belt fully contact with tube wall surface, both sides crawler belt can outwards be adjusted to some angles,Be splayed. Fig. 5 shows the structural representation of the crawler belt angle adjusting mechanism 102 of pipe robot of the present invention. AsShown in figure, the bilateral crawler belt angle-regulation structure of pipe robot comprises: crawler belt angular adjustment rotating shaft 501, bilateral is carried outBand rotating shaft 502, crawler belt suspension arm 503, angle limited block 504, angular adjustment gear 505, angular adjustment axle revolvesChange hands the parts such as handle 506 and angle orientation hole 507. The splayed set-up mode of above-mentioned both sides crawler belt, on the one hand canImprove the frictional force of crawler belt and tube wall, can avoid on the other hand pipe bottom sludge and other deposits.
Left main track assembly and right main track assembly 103 are arranged on respectively on crawler belt suspension arm 503, and pass through crawler beltSuspension arm 503 is realized the connection angle adjustment with vehicle frame 101. Crawler belt on the termination of vehicle frame 101 and midship frame partShaft hole position 201 and crawler belt angular adjustment shaft hole position 202 plug-in mounting bilateral crawler belt rotating shaft 502 and crawler belt angle respectivelyRegulate rotating shaft 501, sheathed angular adjustment gear 505, angular adjustment gear and a side in crawler belt angular adjustment rotating shaft 501Crawler belt suspension arm 503 on tooth bar engagement, this side tooth bar again with the crawler belt suspension arm 503 of opposite side on tooth bar nibbleClose the termination connection angle regulating shaft rotary handle 506 of crawler belt angular adjustment rotating shaft 501, angle orientation hole 507 basesThe angle value needing arranges multiple continuously. With hand rotation angular adjustment axle rotary handle 506, the main track assembly in both sidesAngle can be adjusted at 0 degree (in Fig. 5 shown in position, lower-left 508) between 120 degree (in Fig. 5 shown in position, bottom right 509)Whole. Angular adjustment axle rotary handle 506 can be fixed on the angle orientation hole 507 of relevant position after angular adjustment is put in placeOn. Angle limited block 504 is arranged on crawler belt suspension arm 503 terminations of a side, when the angle of the main track assembly in both sides reachesDuring to maximum upper limit, angle limited block 504 is stuck on crawler belt angular adjustment rotating shaft 501 terminations, with the crawler belt to this sideThe motion of suspension arm 503 and main track assembly limits.
Fig. 6 is the schematic diagram of the sonar assembly of pipe robot of the present invention. As shown in the figure, sonar parts comprise: soundReceive fixed mount 105, Sonar Probe 106 and vehicle frame 101. Sonar Probe belongs to carrying equipment, is arranged on car body on the lowerPosition, conventionally higher than vehicle frame. When car body enters half while diving or entirely dive working method, Sonar Probe can be surveyed under waterThe pipeline form of part.
Fig. 7 is the schematic diagram of the image unit 108 of pipe robot of the present invention. As shown in the figure, image unit comprises:All-direction multi-functional video camera 704 (210 degree swing for automatic/hand zoom, 10 times of optics+10 times digital zooms,360 degree rotations), swing hemisphere 705, main light source 707, secondary light source 109, crane 107, can locate air spring701 and varifocal/parts such as zoom camera movement 706. All-direction multi-functional video camera 704 can become by automatic/handJiao, 10 times of optics+10 times digital zooms, 210 degree swing, 360 degree rotations. What the present embodiment adopted is artificialHand-operated lifting mode, also can install electronic automatic lifting structure additional.
Fig. 8 is the structural representation of the electronic control box of pipe robot of the present invention. As shown in the figure, electronic control box110 comprise: control cabinet shell 802, and inner drawing structure framework 810, electronic control box sliding door 111, handle 806,Multiple water joints 805, cable hitch frame 112, charging connector 801, seal washer 803, battery 808, control panel andThe parts such as electronic device (motor drive module, optical transmitter and receiver etc.) installation position 809. Battery 808, control panel and electronic deviceInstallation position 809 can be arranged on inner drawing structure framework 810, the electronics electricity such as battery 808 and control panel/electronic deviceRoad part connecting inner drawing structure framework 810 is assembled into a framework, is placed in a casing, forms drawing and pulling type knotStructure. Box back has a face to open, and this face and casing seal with sealing gasket 803. Reduce sealing surface as far as possibleArea, reaches best sealing effectiveness. Can in electronic control box 110, be filled with dry air by charging connector 801,Keep itself and extraneous malleation. Many cables, by water joint 805, are connected to the equipment such as crawler belt, video camera. GasCan pass through in cable inside, air pressure can be sent to motor control box 304 and the image unit 108 of main track assemblyAll-direction multi-functional video camera 704 inside, make its same malleation that keeps.
Fig. 9 is the structural representation of the take up reel of pipe robot of the present invention. As shown in the figure, take up reel comprises: receiveLine car car body 901, metering structure 902, metering structure sliding bar 903, emergency stop switch 904, main line dish 905, compoundOptical cable 906, take up reel handle 907, by-pass dish 908, protection wirerope 909, retractable cable handle 910, wheel 911,Control cable interface 912, power switch 913 parts such as grade. An optical transmitter and receiver is equipped with in take up reel inside, passes through composite cableBe connected with climbing robot. Receive and dispatch 485 communication datas and receiving video signals. Connect by controlling cable interface 912Controller. Composite cable can also send instructions under carrying equipment, receives the detection data of carrying equipment. Work as robotOnce break down while construction in pipeline, in the time that equipment reclaims, protection wirerope is for pulling equipment.
Pipe robot of the present invention, except carrying out in the manner described above structure configuration, also can be realized multiple merit belowEnergy. For example:
(1) can carry high resolution 2 D, 3D video sensing module, sonar circular scanning according to the application requirements in varying environmentDetection module, infrared scan detection module, mechanical arm, cut saw operation module, high pressure washing operation module, polishing millingOperation module etc.;
(2) can be equipped with preposition camera chain, luminous source system, sonar detection system, camera chain can be in pipelineDirect-view and side-looking are observed, and running flexibly. Meanwhile, can be on high-resolution color monitor video in display pipes in real timeImage information, and sonar analysis image, by pipe interior situation and pipeline deformation situation is open-and-shut offersTesting personnel, thus accurate, professional examining report formed, for later stage system automatic job provides reliable basis;
(3) can according to the instruction of testing result receiving system master control platform utilize carrying equipment complete foreign matter cleaning, tree root excision,The amphibious work operations such as auxiliary desilting.
Pipe robot of the present invention is also combined with corresponding software systems. Figure 10 is the soft of pipe robot of the present inventionThe structure chart of part system main-control platform processed. As shown in the figure, software systems comprise system main-control platform 1001 processed, key-course1002, application layer 1003, basal layer 1004, power and drive system 1005, Multifunctional operating system 1006, multidimensionalDetection system 1007, multipurpose equipped system 1008 system function modules such as grade.
The master control platform of this pipe robot is carried out principal and subordinate and is controlled platform 1001, the hardware resource by host computer andSystem resource completes the functions such as coordinate transform, graphical simulation, trajectory analysis, and gives slave computer distribution of information; UnderPosition owner will complete the control of node location, and is responsible for related data information to upload host computer. This platform adopts applicationModularized design, underlying platform uniform data storage, shared. Both can realize the independence operation of module, also couldRealize overall work compound. Robot control system is made up of multiple single-chip microcomputers, is responsible for the sensor letter of body itselfBreath collection, Electric Machine Control and communication transfer. Carrying equipment by its communication channel transmission information to master control platform. MonolithicMachine and system communication adopt serial communication asychronous transfer mode, and realize and receive and send and can at any time or be interrupted and carry out, andBe not subject to time restriction.
Figure 11 is the logic diagram of the interior master board of car body of pipe robot of the present invention. As shown in the figure, car body electronicsControl cabinet master control borad comprises total interface 1101, optical transmitter and receiver 1102, lighting adjusting control circuit 1103, left motor1104, right motor 1106, left motor driver module 1105, right motor driver module 1107, high capacity cell1108, front camera 1109, rear camera 1112, front camera and rear camera switches 1110, the modules such as car body master control borad. ControlTotal interface 1101 of circuit board processed connects take up reel composite cable 1106. Receive the control instruction that controller 1108 sends,And return to car body parameter and video data by take up reel to controller.
Figure 12 is the logic chart of the motor closed-loop driving circuit of pipe robot of the present invention. As shown in the figure, motor closed loopDrive circuit comprises: Digital Servo Driver 1201, motor 1202, photoelectrical coupler 1203, decelerator 1204.The type of drive of robot adopts brshless DC motor (DC) motorized motions. Closed-loop driving circuit control motor is according to givenSpeed running.
Figure 13 is the schematic diagram of the controller of pipe robot of the present invention. As shown in the figure, the controller that the present invention usesComprise: controller casing 1301, liquid crystal touch screen 1302, USB mouth 1303, network interface 1304, digital transmission module antenna1305, heat dissipation ventilation mouth 1306, power supply opens 1307, and software 1401 is controlled in comprehensive cable socket 1308 and detection. CombineZygonema cable socket is connected to take up reel. The main functional modules that detects control software has: " system option ", " editor's head "," parameter calibration ", " detect and control ".
Figure 14 is the main surface chart of the robot control software of pipe robot of the present invention. As shown in the figure, detect and control masterInterface comprises: video window 1301, the parameter display window 1302-1308 such as air pressure, inclination angle, information display window1309-1310, car body control button 1313-1316, retractable cable, crane, light source control button 1317-1320, take the photographCamera control button 1321-1323, parameter arranges button 1324, and system is opened button 1325, closes button 1311.Record a video/take pictures/playback combination button 1326. Controlling the each parts concrete function of the main surface chart of software is described as follows:
1301-video display window;
1302-crawl device podium level schematic diagram;
Inclination angle, 1303-crawl device left and right schematic diagram;
Inclination angle schematic diagram before and after 1304-crawl device;
1305-crawl device car body air pressure digital watch (unit: handkerchief);
1306-camera air pressure digital watch (unit: handkerchief);
1307-systematic name and imprint;
The real-time detected parameters table of 1308-system: inclination angle, front and back, inclination angle, left and right, podium level (mm), gait of march (m/min),Distance (rice);
1309-crawl device driving trace;
1310-system information window;
1311-system master switch;
1312-is apart from zero clearing. Manipulation crawl device drive to the pipeline starting point that will detect, start detect (video recording) front, pointHit zero clearing, distance can be made as to zero;
1313-crawl device is turned right. Release button-stop turning right;
1314-crawl device retreats. Pull down icon, control crawl device and retreat, drop-down distance can change the speed retreating.Discharge button, stop retreating;
1315-crawl device advances. Upwards push away icon, control crawl device and move ahead, the distance above pushing away can change the speed moving ahead.Discharge button, halt;
1316-crawl device turns left. Release button-stop turning left;
Unwrapping wire/the take-up of 1317-take up reel;
1318-crawl device platform lifting/lowering;
1319-lamplight brightness regulates: main light source, secondary light source, rear light source;
The front/rear camera of 1320-switches;
1321-camera attitude control: left/right pendulum, clockwise/to reverse;
The control of 1322-camera is switched: 1. camera attitude control, 2. camera parameters setting, 3. video camera menu setecting.(21) are shown in attitude control;
1323-camera resets. Camera turns back to original position;
1324-system parameter setting;
1325-start/stop test button;
1326-records a video, takes pictures, playback operation instrument. Click camera attitude control area-ejection tool bar, again click-Hide tools bar;
1327-video recording prompting icon. Click red icon, eject " stopping video recording " dialog box;
1328-shows video time (unit second);
1329-battery electric quantity shows. On car body, carry power drive battery. Shown is exactly to carry on car body hereinBattery electric quantity. When system prompt " battery electric quantity low (peony) ", should manipulate crawl device car body and start to return. WhenWhen system shows " battery electric quantity too low (cerise) ", must manipulate crawl device car body and return. Referring to parameter calibration--electricityCell voltage is demarcated, and ' low alarming value ' is corresponding to " battery electric quantity is low "; ' minimum limit value ' is corresponding to " battery electric quantity is too low ".
Figure 15, Figure 16 are the logical flow charts of the control software of pipe robot of the present invention. Pipeline machine of the present inventionPeople's software system function can be realized according to respective flow chart.
A specific embodiment of the present invention can be carried out with step in the following manner.
Robot car body component devices performance configuration is:
<1>battery capacity: because the design bearing capacity of car body is 200Kg. Can load enough high-energy polymer batteries.Ensureing provides enough supplies of electric power to car body.
<2>body construction: most of stainless steel material that adopts. Each parts adopts 3D design, laser controllingAccurately processing. Ensure structure precision and the intensity of car body, ensure the corrosion resistance of equipment, there are fire resistance characteristic (protection etc.Level is IP6/8, can meet 10 meters of job requirements under water) and explosion-resistance characteristic (meeting national G3836 explosion-proof criteria). Power isTwo 200W motors can carry 200Kg equipment, the heavy 78Kg of car body; Crane is packed up as 1646mm*700mm*501mm,Crane is up to 1646mm*700mm*954mm.
<3>light video: adopt this brightness LED lamp, brightness is adjustable. Omnibearing camera, underground pipingCan observe, record a video and take pictures in any one position.
<4>sonar detection: the tube wall form of part under water, survey by sonar system. The frequency of sonar is 2MHz,Detection accuracy < 1mm.
<5>transfer of data: total data, by optical cable transmission, reduces to greatest extent video and disturbs.
<6>power drive: assemble two 300-500W direct current generators. Each motor (after gearbox slows down) is carriedThe moment of torsion of confession > 60Nm. For enough driving forces are provided, bilateral crawler belt can type selecting: 300-500W direct current generator.
<7>control system: host computer adopts industry control special machine, the above CPU of double-core 2.3G, the above internal memory of 4G. UnderPosition machine, according to the task difference completing, is made up of multiple single-chip microcomputers.
<8>cable take up reel: with electronics meter-measuring device, cable adopts steel wire rope+optical fiber can realize electronic, manualRetractable cable mode, battery capacity: 60V*36Ah, can stream time > 5 hours.
Thereby the key technical indexes that realizes pipe robot is as follows:
Although specific embodiment part has been described various embodiment of the present disclosure in detail or briefly. And to provided by the present inventionPipe robot hardware and software are described in detail. Apply specific case herein to principle of the present invention and realityThe mode of executing is set forth, and the explanation of above embodiment is just for helping to understand method of the present invention and core concept thereof.It should be pointed out that for those skilled in the art, under the premise without departing from the principles of the invention, alsoCan carry out some improvement and modification to the present invention, these improvement and modification also fall into the protection model of the claims in the present inventionIn enclosing.
Claims (10)
1. the amphibious working pipe pipeline robot of multi-dimensions test, is characterized in that, comprising: vehicle frame (101), left masterTrack assembly, right main track assembly, crawler belt angle adjusting mechanism (102), sonar fixed mount (105), sonar is visitedHead (106), camera crane (107), image unit (108), secondary light source (109), electronic control box (110),Electronic control box sliding door (111), cable hitch frame (112); Left main crawler belt and right main crawler belt are by crawler belt rotating shaftPosition, hole (201) is arranged on the left and right sides, vehicle frame (101) below; Between left main crawler belt and right main crawler belt, crawler belt angle is setDegree governor motion (102), left main crawler belt and right main crawler belt can outwards be adjusted to some angles, are splayed;Sonar Probe (106) is arranged on vehicle frame (101) by sonar fixed mount (105); Camera crane (107) one endBe arranged on the upper other end of vehicle frame (101) image unit (108) and secondary light source (109) are installed; To pipe robotElectronic control box (110), left main track assembly, right main track assembly and image unit (108) carry out waterproof sealing.
2. according to the pipe robot of claim 1, it is characterized in that, electronic control box (110) comprising: controlCase shell (802), inner drawing structure framework (810), electronic control box sliding door (111), handle (806) is manyIndividual water joint (805), cable hitch frame (112), charging connector (801), seal washer (803), battery (808),Control panel and electronic device installation position (809); Battery (808), control panel and electronic device installation position (809) settingUpper at inner drawing structure framework (810), battery (808) and control panel and electronic circuit are arranged on inner pull knotThe upper entirety that forms of structure framework (810), is placed in control cabinet shell (802), forms drawing and pulling type structure, drawing and pulling type knotBetween structure and casing, seal with sealing gasket (803); Can in electronic control box (110), fill by charging connector (801)Enter dry air, keep and extraneous malleation; Many cable is connected to crawler belt, is taken the photograph by water joint (805)Camera, gas can pass through in cable inside, pneumatic conveying to the motor control box (304) of main track assembly andAll-direction multi-functional video camera (704) inside of image unit (108).
3. according to the pipe robot of claim 1 or 2, it is characterized in that, before left main crawler belt and right main crawler beltSide arranges respectively preposition left redundant crawler belt and preposition right redundant crawler belt; Preposition left redundant crawler belt and preposition right redundant are carried outBand comprises auxiliary crawler main driving wheel (401), auxiliary crawler belt (402), auxiliary crawler belt driven pulley (403), auxiliary crawler rack(405), disc type reducing motor (406) and outer casing (404).
4. according to the pipe robot of claim 1 or 2, it is characterized in that the left main crawler belt of pipe robotAssembly and right main track assembly comprise: main crawler belt outer panel (301), and main crawler belt interior plate (309), main crawler belt (302),Auxiliary crawler belt fixed bit (303), motor control box (304), driving wheel (305), pinch roller (306), driven pulley (307)And Worm reduction motor (308).
5. according to the pipe robot of claim 1 or 2, it is characterized in that left main track assembly and right main shoeBand assembly is arranged on respectively on the crawler belt suspension arm (503) of crawler belt angle adjusting mechanism (102), and hangs by crawler beltUpper arm (503) realization is connected and angle adjustment with vehicle frame (101).
6. according to the pipe robot of claim 1 or 2, it is characterized in that crawler belt angle adjusting mechanism (102)Adjusting rotating shaft be arranged in the crawler belt angular adjustment shaft hole position (202) of vehicle frame (101).
7. according to the pipe robot of claim 1 or 2, it is characterized in that, electronic control box (110) is arranged onVehicle frame (101) top, is provided with multiple electronic control box fixed hole positions (206) in the plane of vehicle frame (101), make electricitySub-control cabinet (110) can closely cooperate with vehicle frame (101).
8. according to the pipe robot of claim 1 or 2, it is characterized in that the installation position of Sonar Probe (106)Put the not horizontal level higher than vehicle frame (101).
9. according to the pipe robot of claim 1 or 2, it is characterized in that, image unit (108) comprising: manyFunction omnidirectional vision camera (704), swings hemisphere (705), main light source (707) and varifocal/zoom camera movement(706); All-direction multi-functional video camera (704) can automatic/hand zoom, 10 times of optics+10 times digital zooms,210 degree swing, 360 degree rotations; Shooting crane (107) also disposes can locate air spring (701).
10. comprise a pipe robot system for the pipe robot of claim 1-9 any one, this pipe machineDevice robot system also comprises take up reel and controller; Take up reel comprises: take up reel car body (901), and metering structure (902),Metering structure sliding bar (903), emergency stop switch (904), main line dish (905), composite cable (906), take up reel drawsHand (907), by-pass dish (908), protection wirerope (909), retractable cable handle (910), wheel (911), controls cableInterface (912), power switch (913); An optical transmitter and receiver is equipped with in take up reel inside, by composite cable with creepRobot connects; Receive and dispatch 485 communication datas and receiving video signals; Connect by controlling cable interface (912)Controller; Composite cable can send instructions under carrying equipment, receives the detection data of carrying equipment; Work as machinePeople constructs while breaking down in pipeline, and protection wirerope is for pulling equipment; Controller comprises: controller casing(1301), liquid crystal touch screen (1302), USB mouth (1303), network interface (1304), digital transmission module antenna (1305),Heat dissipation ventilation mouth (1306), power supply is opened (1307) and comprehensive cable socket (1308); Comprehensive cable socket is connected to receiptsLine car.
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Application publication date: 20140326 Assignee: SHENZHEN SROD INDUSTRIAL GROUP Co.,Ltd. Assignor: Song Youju Contract record no.: X2020990000695 Denomination of invention: A multi dimensional inspection amphibious pipeline robot Granted publication date: 20160525 License type: Common License Record date: 20201218 |
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