CN110500470A - A kind of pipeline climbing robot with relative position navigation feature - Google Patents
A kind of pipeline climbing robot with relative position navigation feature Download PDFInfo
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- CN110500470A CN110500470A CN201910864921.5A CN201910864921A CN110500470A CN 110500470 A CN110500470 A CN 110500470A CN 201910864921 A CN201910864921 A CN 201910864921A CN 110500470 A CN110500470 A CN 110500470A
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- 230000009194 climbing Effects 0.000 title claims abstract description 98
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- 210000000245 forearm Anatomy 0.000 claims abstract description 21
- 230000004888 barrier function Effects 0.000 claims abstract description 5
- 230000003287 optical effect Effects 0.000 claims description 33
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- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 3
- 230000008859 change Effects 0.000 claims description 2
- 230000009193 crawling Effects 0.000 claims description 2
- 238000000354 decomposition reaction Methods 0.000 claims description 2
- 239000003795 chemical substances by application Substances 0.000 claims 1
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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
- F16L55/18—Appliances for use in repairing pipes
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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
- F16L2101/30—Inspecting, measuring or testing
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- Chemical & Material Sciences (AREA)
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- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention discloses a kind of pipeline climbing robots with relative position navigation feature, including Image Acquisition part, robot body, arm mechanism and Relative positioning systems；Described image collecting part realizes identification of the robot ambulation in the process to target and barrier, and the robot body is as robot bearing structure and for connecting other structures, movement of the arm mechanism driving robot in pipeline.Pipeline climbing robot is realized to work such as inspection, the reparations of this special space of pipeline, positioning system with relative position navigation, a crank is only used in the large arm driving mechanism of pipeline climbing robot to drive four large arm while moving, increase the compactedness of mechanism, the harmony for guaranteeing robot's arm movement, facilitates stabilization and balance that robot keeps center of gravity in wet and slippery tube wall；Pipeline climbing robot, by changing forearm amount of bow, allows the pipeline that robot is different by caliber when pipeline inside face is to different tube diameters.
Description
Technical field
The present invention relates to robotic technology field more particularly to a kind of pipeline creepers with relative position navigation feature
Device people.
Background technique
A kind of specialized robot of pipeline climbing robot is usually used in the unapproachable narrow pipeline space of human body and is made
Industry carries out dangerous work in the adverse circumstances and toxic environment that people can not adapt to.The alternative mankind of pipeline climbing robot
Pipeline is detected and repaired in rugged environment, pipeline climbing robot can be inside pipeline along in pipeline
Wallflow is walked, while pipeline climbing robot can carry one kind of multiple sensors and operational instrument, and staff is outside pipeline
Portion can carry out the several work such as a series of pipe detection, reparation by control with control lead pipeline creeping robot.With machine
The research of the rapid development of people, pipeline climbing robot receives the attention of whole world various countries, meanwhile, for pipeline crawling machine
The application study of people is also more and more mature.
Summary of the invention
Present invention aims in view of the deficiencies of the prior art, propose that a kind of pipeline with relative position navigation feature climbs
Row robot.
The purpose of the present invention is achieved through the following technical solutions: a kind of pipeline with relative position navigation feature
Climbing robot, including Image Acquisition part, robot body, arm mechanism and Relative positioning systems；
Described image collecting part includes camera, luffing mechanism and steering mechanism, and the camera and luffing mechanism are equal
It is fixed in steering mechanism, the image information inside the camera acquisition pipeline, camera and steering mechanism pass through pitching machine
Structure connection, the luffing mechanism change the position of camera swung up and down for rising camera or decline, and described turn
To mechanism for making camera and luffing mechanism carry out 180 ° of rotations；
The robot body is installed on the back shroud as robot bearing structure, including front shroud and back shroud
There are the support of bearing, needle bearing, eccentric weight and the gyroscope of annular；The outer ring interference of the support of bearing and needle bearing is matched
It closes, the inner ring and eccentric weight of the needle bearing are interference fitted, and the eccentric weight is in circular ring shape, can by needle bearing
Circumnutation is carried out, and inside is equipped with semicircular clump weight, gyroscope is housed, the clump weight is for reducing on clump weight
Because of influence of the robot convolution offset to gyroscope measurement accuracy caused by features of terrain；
The arm mechanism includes large arm, power rail, forearm, lead screw motor, screw rod, connector and large arm driving mechanism；
It is provided with sliding slot in the large arm, and is connected by rotary gemel with forearm, the lead screw motor and screw rod are connected, institute
The one end for stating screw rod and connector forms screw pair, and the other end and power rail of the connector are connected, the forearm and power
Bar passes through pin connection.The lead screw motor controls the position of connector and power rail by controlling the rotation amount of screw rod, most
The control to forearm is realized eventually；Pipeline climbing robot is changed when pipeline inside face is to different tube diameters by adjusting lead screw motor
Become smaller brachiocylloosis amount, and then the pipeline for keeping robot different by caliber；
The large arm driving mechanism includes sliding block, motion bracket, optical axis, optical axis seat, connecting rod and crank；The crank and light
Axle bed is mounted on the front shroud of robot body, and the crank is connected by a hinge with connecting rod, and the connecting rod passes through optical axis seat
It is connect with optical axis, connecting rod is used to for the driving force of crank being transferred to optical axis, and the optical axis and motion bracket are connected, optical axis and optical axis
Seat forms prismatic pair, for constraining the movement of the motion bracket, makes its movement can only be along robot vertical centerline direction
Movement；The sliding block section is in T font, is matched with the sliding slot in large arm, the motion bracket is connect with sliding block hinge, is used for
Guarantee to move radially when sliding block cooperates with sliding slot；
The Relative positioning systems include encoder, gyroscope, controller and power module；The power module and control
Device is connected on the back shroud of robot body, and the center of the encoder is connected with driver motor；The encoder and top
Spiral shell instrument is connect with controller；The controller, encoder and gyroscope are connect with power module；The gyroscope can be adopted
Collector pipeline creeping robot pitch angle, roll angle and course angle；When the rotation of the center of encoder, encoder generates pulse letter
Number, controller carries out accumulated counts to encoder pulse signal, and accumulative umber of pulse is converted to pipeline climbing robot
Straight-line displacement length, writing controller, control pipeline climbing robot turn to together for the angular displacement generated with gyroscope；
When pipeline climbing robot is switched on work, using initial crawl direction as X-axis, initial water plane is the controller
The eulerian coordinate system for meeting the right-hand rule is established in the face XOY, and the operation result that the controller counts each summation pulse carries out
Three-dimensional orthogonal decomposes, in projection to X-axis, Y-axis and Z axis reference axis, to form the positioning system of relative position navigation；And introduce tool
There is the Bayesian filter of recursive nature to be modified the relative position of robot motion, obtains pipeline climbing robot three-dimensional seat
After target observation, pipeline climbing robot probability distribution of t moment estimated location in pipeline is set as Mt:
Mt=p (Mt|M1:t-1,N1:t-1)
In formula, M1:t-1With N1:t-1It characterizes and estimates in pipeline from the t=1 moment to t-1 moment pipeline climbing robot respectively
The probability distribution of position and observation position；The observation position of pipeline climbing robot t moment in pipeline is collected on gyroscope
Probability distribution be modeled as Nt:
Nt=p (Nt|M1:t,N1:t-1)M1:t
The observed quantity of gyroscope acquisition and pipeline climbing robot have independence, and assume t moment pipeline creeper
The position of device people is only related with the t-1 moment, introduces naive Bayesian thought and Markov Chain simplifies pipeline climbing robot position
Estimation model is set, and introduces batch processing method and recurrence is carried out to all previous Bayesian filter calculated result, building t moment pipeline is creeped
Robot location estimated value p (Mt|N1:t-1) and t-1 moment p (Mt-1|N1:t-1) relationship:
p(Mt|N1:t-1)=∫ p (Mt|Mt-1)p(Mt-1|N1:t-1)dMt-1
Pass through the collected t moment observation position N of gyroscopetPipeline climbing robot position estimation value is updated, thus
To the Posterior distrbutionp p (M of t moment pipeline climbing robot positiont|N1:t):
After the Posterior distrbutionp of t moment pipeline climbing robot position is calculated, climbed as subsequent time t+1 moment pipeline
The prior distribution of row robot, to complete the batch processing of Bayesian filter algorithm；Utilize Bayesian filter algorithm reinforced phase pair
The navigation and positioning accuracy of the pipeline climbing robot of position navigation feature.
Further, the crank is circular crank；The section of the crank be it is I-shaped, crank two sides are provided with through-hole simultaneously
It is point-blank distributed, is connected by a hinge with connecting rod.
Further, the sliding slot in the large arm is T-shaped sliding slot, symmetrical on the section of large arm, one of them
As station is retained, enhance the use versatility of robot's arm.
Further, in the large arm driving mechanism, the motion bracket, optical axis, optical axis seat and connecting rod it is equal there are two, close
It is arranged symmetrically in crank, two large arm is connected on motion bracket, it is four big that a crank driving is only used in large arm driving mechanism
Arm moves simultaneously.
Further, pipeline climbing robot also has bottom roller part, and the bottom roller part includes a master
Driving wheel, universal wheel a, universal wheel b, roller seat and roller seat bogie, the driving wheel, universal wheel a and universal wheel b pacify
In roller seat, the driving wheel is driven when rotating by the motor driven that is connected with the center of the encoder, driving wheel
The center of encoder rotates, and encoder generates pulse signal, and records the actual displacement of pipeline climbing robot；The idler wheel bottom
Seat is connected as revolute by roller seat bogie with forearm, and the forearm can drive the rotation of roller seat bogie to realize
The steering of the roller seat and driving wheel.
Further, the roller seat is also fixed with universal wheel a spring and universal wheel b spring, the universal wheel a spring
Be respectively fixedly connected universal wheel a retainer and universal wheel b retainer with the universal wheel b spring other end, the universal wheel a retainer and
Universal wheel b retainer is connected with universal wheel a and universal wheel b.
Further, when pipeline climbing robot creep encounter barrier on the way when, the universal wheel a spring and universal
Wheel b spring is used to reduce across obstacle and causes to damage with electrical system to the machinery of robot；When pipeline climbing robot changes
When becoming itself posture, the universal wheel a spring and universal wheel b spring are for compensating the axial displacement and diameter of pipeline climbing robot
To deflection, pipeline climbing robot is enabled preferably to be adjacent to tube wall, increases the contact area of pipeline climbing robot and pipeline,
And then increase the stability in robot kinematics.
Further, the universal wheel a retainer and universal wheel b retainer can provide adaptive for universal wheel a and universal wheel b
The turning function answered.
Further, threshold value is arranged to the gyroscope signal of acquisition in the controller, when the gyroscope signal is less than threshold
When value, controller is without steering operation, and when the gyroscope signal exceeds threshold value, controller controls pipeline climbing robot
It completes to turn to, and the accumulated pulse number of encoder is emptied, start the encoder pulse count of a new round.
Beneficial effects of the present invention: pipeline climbing robot is realized to works such as inspection, the reparations of this special space of pipeline
Make, the positioning system with relative position navigation.A crank is only used in the large arm driving mechanism of pipeline climbing robot to drive
Dynamic four large arm move simultaneously, increase the compactedness of mechanism, reduce the arrangement of power device, guarantee robot's arm movement
Harmony, facilitate stabilization and balance that robot keeps center of gravity in wet and slippery tube wall, reduce the design of logic circuit, subtract
The complexity of robot system is lacked；Pipeline climbing robot is when pipeline inside face is to different tube diameters, by adjusting screw rod electricity
Machine changes forearm amount of bow, can allow the pipeline that robot is different by caliber.
Detailed description of the invention
Fig. 1 is general illustration of the invention；
Fig. 2 is the general illustration under back visual angle of the present invention；
Fig. 3 is arm mechanism schematic diagram of the invention；
Fig. 4 is large arm schematic cross-section of the invention；
Fig. 5 is bottom roller schematic diagram of the invention；
Fig. 6 is relative position navigation data acquisition figure；
Fig. 7 is Bayesian filter location estimation flow chart.
In figure, 1. cameras；2. luffing mechanism；3. steering mechanism；4. front shroud；5. back shroud；6. large arm；7. power
Bar；8. forearm；9. sliding slot；10. sliding block；11. motion bracket；12. optical axis；13. optical axis seat；14. connecting rod；15. crank；16. axis
Hold bracket；17. needle bearing；18. eccentric weight；19. gyroscope；20. lead screw motor；21. connector；22. rotary gemel；
23. roller seat bogie；24. universal wheel a spring；25. universal wheel a retainer；26. universal wheel a；27. universal wheel b spring；
28. universal wheel b retainer；29. universal wheel b；30. encoder；31. driving wheel；32. roller seat；33. screw rod；34. driving wheel
Motor.
Specific embodiment
The specific embodiment of the invention is described in further detail below in conjunction with attached drawing.
As described in Figure 1, a kind of pipeline climbing robot with relative position navigation feature, including Image Acquisition part,
Robot body, arm mechanism and Relative positioning systems；
Identification during described image collecting part realization robot ambulation to target and barrier, including camera 1,
Luffing mechanism 2 and steering mechanism 3, the camera 1 and luffing mechanism 2 are each attached in steering mechanism 3, and the camera 1 is adopted
Collect the image information inside pipeline, realization detects robot surrounding enviroment, and camera 1 and steering mechanism 3 pass through pitching
Mechanism 2 connects, and the luffing mechanism 2 makes camera 1 rise or decline, and changes the position of camera 1 swung up and down, makes to take the photograph
As first 1 acquisition range becomes larger, understructure of the steering mechanism 3 as Image Acquisition part, and 1 He of camera can be made
Luffing mechanism 2 carries out 180 ° of rotations, keeps pipeline climbing robot identification range wider；
As shown in Fig. 2, the robot body is as robot bearing structure and for connecting other structures, including front cover
Plate 4 and back shroud 5 are equipped with the support of bearing 16, needle bearing 17, eccentric weight 18 and the gyro of annular on the back shroud 5
Instrument 19；The outer ring of the support of bearing 16 and needle bearing 17 is interference fitted, the inner ring and bias of the needle bearing 17
Pouring weight 18 is interference fitted, and the eccentric weight 18 is in circular ring shape, is able to carry out circumnutation by needle bearing 17, and internal
Equipped with semicircular clump weight, gyroscope 19, machine caused by the clump weight can be reduced because of features of terrain are housed on clump weight
Influence of people's convolution offset to 19 measurement accuracy of gyroscope；
As shown in Figure 3-4, movement of the arm mechanism driving robot in pipeline, including it is large arm 6, power rail 7, small
Arm 8, lead screw motor 20, screw rod 33, connector 21 and large arm driving mechanism；
The section of the large arm 6 is symmetrical, and there are two T-shaped sliding slots 9, one of as station is retained, and enhance machine
The use versatility of National People's Congress's arm 6, large arm 6 are connected by rotary gemel 22 with forearm 8, and the rotary gemel 22 itself does not provide master
Power only plays the role of connection, and the lead screw motor 20 is connected with screw rod 33, one end of the screw rod 33 and connector 21
Screw pair is formed, the other end and power rail 7 of the connector 21 are connected, and the forearm 8 and power rail 7 pass through pin connection.Institute
Lead screw motor 20 is stated by the rotation amount of control screw rod 33, and then controls the position of connector 21 and power rail 7, final realization pair
The control of forearm 8；Make robot when pipeline inside face is to different tube diameters, changes forearm 8 by adjusting lead screw motor 20 and realizing
Amount of bow, and then the pipeline for keeping robot different by caliber；
The large arm driving mechanism includes sliding block 10, motion bracket 11, optical axis 12, optical axis seat 13, connecting rod 14 and crank 15；
The crank 15 and optical axis seat 13 are mounted on the front shroud 4 of robot body, and the crank 15 is circular crank, help to increase
Add diameter of axle diameter, enhances mechanism reliability；The section of crank 15 be it is I-shaped, 15 two sides of crank are provided with through-hole and in straight line
Upper distribution is connected by a hinge with connecting rod 14；Crank 15 is connected by a hinge with connecting rod 14, and the connecting rod 14 passes through optical axis seat 13
It is connect with optical axis 12, the driving force of crank 15 can be transferred to optical axis 12, the optical axis 12 and movement branch by hinge by connecting rod 14
Frame 11 is connected, and optical axis 12 and optical axis seat 13 form prismatic pair, for constraining the movement of the motion bracket 11, makes its movement can only
It is moved along robot vertical centerline direction；10 section of sliding block is in T font, is matched with the sliding slot 9 in large arm 6, institute
It stating motion bracket 11 to connect with 10 hinge of sliding block, will not be moved radially when for guaranteeing that sliding block 10 cooperates with sliding slot 9；It is described
In large arm driving mechanism, the motion bracket 11, optical axis 12, optical axis seat 13 and connecting rod 14 there are two, it is symmetrical about crank 15
It arranges, two large arm 6 is connected on motion bracket 11, a crank 15 is only used in large arm driving mechanism and drives four large arm simultaneously
Movement, reduces the arrangement of power device, increases the compactedness of mechanism, guarantees the harmony of robot's arm movement, realizes
The symmetry of subtended angle between large arm, facilitates stabilization and balance that robot keeps center of gravity in wet and slippery tube wall, and reduction is patrolled
The design for collecting circuit, reduces the complexity of robot system.
As shown in figure 5, pipeline climbing robot also has bottom roller part, the bottom roller part includes a master
Driving wheel 31, universal wheel a26, universal wheel b29, roller seat 32 and roller seat bogie 23, the driving wheel 31, universal wheel
A26 and universal wheel b29 are installed in roller seat 32, and the driving wheel 31 is by the center rotating part with the encoder 30
Connected driver motor 34 drives, and realizes that the forward-reverse of pipeline climbing robot, driving wheel 31 drive encoder when rotating
30 center rotating part rotation, encoder 30 generates pulse signal, and records the actual displacement of pipeline climbing robot, according to
The walking distance of 31 diameter of driving wheel and 30 resolution ratio of encoder you can get it pipeline climbing robot；The roller seat 32
Revolute is connected as by roller seat bogie 23 with forearm 8, the forearm 8 can drive roller seat bogie 23 to rotate
Realize the steering of the roller seat 32 and driving wheel 31, the roller seat bogie 23 cooperates driving wheel 31 to be able to achieve pipe
Pipeline creeping robot is creeped along conduit axis direction, moreover it is possible to be provided the driving force moved along circumferential direction for robot, be worked as pipe
When pipeline creeping robot center of gravity shifts, the cooperation of roller seat bogie 23 driving wheel 31 is able to achieve the totality of robot
Pose adjustment, to reduce a possibility that pipeline climbing robot topples in pipeline.
Universal wheel a spring 24 and universal wheel b spring 27, the universal wheel a spring are also fixed in the roller seat 32
Universal wheel a retainer 25 and universal wheel b retainer 28, the universal wheel a has been respectively fixedly connected in 24 and universal wheel b spring, 27 other end
Retainer 25 and universal wheel b retainer 28 are connected with universal wheel a26 and universal wheel b29.
When pipeline climbing robot creep encounter barrier on the way when, the universal wheel a spring 24 and universal wheel b spring
27 can provide the effect of avoidance for pipeline climbing robot, to reduce across obstacle to the machinery and electrical system of robot
It causes to damage；When pipeline climbing robot changes itself posture, the universal wheel a spring 24 and universal wheel b spring 27 can
The axial displacement and radial deflection for compensating pipeline climbing robot, enable pipeline climbing robot to be preferably adjacent to tube wall, increase
The contact area of big pipeline climbing robot and pipeline, and then increase the stability in robot kinematics.
The universal wheel a retainer 25 and universal wheel b retainer 28 can provide adaptive for universal wheel a26 and universal wheel b29
The turning function answered.
As shown in fig. 6, the Relative positioning systems include encoder 30, gyroscope 19, controller and power module；It is described
Power module and controller are connected on the back shroud 5 of robot body, and the center rotating part of the encoder 30 is connected with
Driver motor 34；The encoder 30 is connect with controller with gyroscope 19；The controller common end, encoder 30 are public
End, 19 common end of gyroscope are connect with power module cathode altogether；The power module is encoder 30, gyroscope 19, controller
And attached conditioning circuit power supply；The gyroscope 19 being capable of collection tube pipeline creeping robot pitch angle, roll angle and course angle；
When the rotation of the center rotating part of encoder 30, encoder 30 generates pulse signal, and controller is to 30 pulse signal of encoder
Carry out accumulated counts；Since there are noise jamming and measurement error, threshold is arranged to 19 signal of gyroscope of acquisition in the controller
Value, when 19 signal of gyroscope is less than threshold value, controller thinks that pipeline climbing robot does not turn to, when the top
When 19 signal of spiral shell instrument exceeds threshold value, controller stops the accumulated counts to 30 pulse signal of encoder, and the umber of pulse that will add up
The straight-line displacement length for being converted to pipeline climbing robot, the angular displacement writing controller together generated with gyroscope 19, passes through
Controller controls pipeline climbing robot and turns to, after pipeline climbing robot is completed to turn to, i.e., described 19 angular displacement of gyroscope
It changes and is less than threshold value, the controller empties the accumulated pulse number of encoder 30, and starts 30 pulse of encoder of a new round
It counts；
When pipeline climbing robot is switched on work, the controller brings into operation program, completes the work of initialization, control
Device processed can be using the starting point that program is run as origin, and for the controller using initial crawl direction as X-axis, initial water plane is the face XOY
The eulerian coordinate system for meeting the right-hand rule is established, the circular flow result that the controller counts each summation pulse carries out three
Orthogonal Decomposition is tieed up, is projected to X-axis, Y-axis and Z axis reference axis, to form the positioning system of relative position navigation；
As shown in Figure 7, it is contemplated that certain noise and error can be introduced when sensor data acquisition data, be reinforced phase pair
The navigation and positioning accuracy of the pipeline climbing robot of position navigation feature, introducing has the Bayesian filter of recursive nature to machine
The relative position of people's movement is modified, after obtaining the observation of pipeline climbing robot three-dimensional coordinate, pipeline climbing robot
The probability distribution for the position that t moment is estimated in pipeline is set as Mt:
Mt=p (Mt|M1:t-1,N1:t-1)
In formula, M1:t-1With N1:t-1It characterizes and estimates in pipeline from the t=1 moment to t-1 moment pipeline climbing robot respectively
The probability distribution of position and observation position；Gyroscope collects pipeline climbing robot observation bit of t moment in pipeline and sets up
Mould is Nt:
Nt=p (Nt|M1:t,N1:t-1)M1:t
In formula, M1:tMeaning be characterization from the t=1 moment to t moment pipeline climbing robot estimated location in pipeline
Probability distribution, it is contemplated that the observed quantity of sensor acquisition and pipeline climbing robot have independence, and assume t moment pipeline
The position of climbing robot is only related with the t-1 moment, introduces naive Bayesian thought and Markov Chain simplifies pipeline creeper
Device people's location estimation model, it is contemplated that traditional bayesian algorithm needs all previous result all introducing calculation formula when solving, this
Method not only will increase the memory space of pipeline climbing robot controller, can also cause to robot seriously after long-play
Calculating pressure.Therefore, it introduces batch processing method and recurrence is carried out to all previous Bayesian filter calculated result, construct t moment pipeline
Climbing robot position estimation value p (Mt|N1:t-1) and t-1 moment p (Mt-1|N1:t-1) relationship:
p(Mt|N1:t-1)=∫ p (Mt|Mt-1)p(Mt-1|N1:t-1)dMt-1
Pass through the collected t moment observation position N of sensor againtPipeline climbing robot position estimation value is updated, thus
Obtain the Posterior distrbutionp p (M of t moment pipeline climbing robot positiont|N1:t):
After the Posterior distrbutionp of t moment pipeline climbing robot position is calculated, climbed as subsequent time t+1 moment pipeline
The prior distribution of row robot, to complete the batch processing of Bayesian filter algorithm.
Above-described embodiment is used to illustrate the present invention, rather than limits the invention, in spirit of the invention and
In scope of protection of the claims, to any modifications and changes that the present invention makes, protection scope of the present invention is both fallen within.
Claims (9)
1. a kind of pipeline climbing robot with relative position navigation feature, which is characterized in that including Image Acquisition part, machine
Device human agent, arm mechanism and Relative positioning systems；
Described image collecting part includes camera, luffing mechanism and steering mechanism, and the camera and luffing mechanism are fixed
In steering mechanism, the camera acquires the image information inside pipeline, and camera and steering mechanism pass through luffing mechanism and connect
It connects, the luffing mechanism changes the position of camera swung up and down, the turning machine for making camera rise or decline
Structure is for making camera and luffing mechanism carry out 180 ° of rotations；
The robot body is equipped with ring on the back shroud as robot bearing structure, including front shroud and back shroud
The support of bearing, needle bearing, eccentric weight and the gyroscope of shape；The outer ring of the support of bearing and needle bearing interference fit,
The inner ring of the needle bearing and eccentric weight are interference fitted, and the eccentric weight is in circular ring shape, can be by needle bearing
Row circumnutation, and it is internal semicircular clump weight is housed, gyroscope is housed on clump weight, the clump weight for reduce because
Influence of the convolution offset of robot caused by features of terrain to gyroscope measurement accuracy；
The arm mechanism includes large arm, power rail, forearm, lead screw motor, screw rod, connector and large arm driving mechanism；
It is provided with sliding slot in the large arm, and is connected by rotary gemel with forearm, the lead screw motor and screw rod are connected, the silk
One end of bar and connector forms screw pair, and the other end and power rail of the connector are connected, and the forearm and power rail are logical
Cross pin connection.The lead screw motor controls the position of connector and power rail by controlling the rotation amount of screw rod, final real
Now to the control of forearm；Pipeline climbing robot is small by adjusting lead screw motor change when pipeline inside face is to different tube diameters
Brachiocylloosis amount, and then the pipeline for keeping robot different by caliber；
The large arm driving mechanism includes sliding block, motion bracket, optical axis, optical axis seat, connecting rod and crank；The crank and optical axis seat
It is mounted on the front shroud of robot body, the crank is connected by a hinge with connecting rod, and the connecting rod passes through optical axis seat and light
Axis connection, connecting rod are used to for the driving force of crank being transferred to optical axis, and the optical axis and motion bracket are connected, optical axis and optical axis seat shape
Its movement is moved can only along robot vertical centerline direction for constraining the movement of the motion bracket at prismatic pair；
The sliding block section is in T font, is matched with the sliding slot in large arm, the motion bracket is connect with sliding block hinge, for guaranteeing
Sliding block will not move radially when cooperating with sliding slot；
The Relative positioning systems include encoder, gyroscope, controller and power module；The power module and controller are solid
It is connected on the back shroud of robot body, the center of the encoder is connected with driver motor；The encoder and gyroscope
It is connect with controller；The controller, encoder and gyroscope are connect with power module；The gyroscope being capable of collection tube
Pipeline creeping robot pitch angle, roll angle and course angle；When the rotation of the center of encoder, encoder generates pulse signal, control
Device processed carries out accumulated counts to encoder pulse signal, and accumulative umber of pulse is converted to the straight line position of pipeline climbing robot
Length is moved, writing controller, control pipeline climbing robot turn to together for the angular displacement generated with gyroscope；
When pipeline climbing robot is switched on work, for the controller using initial crawl direction as X-axis, initial water plane is XOY
The eulerian coordinate system for meeting the right-hand rule is established in face, and the operation result that the controller counts each summation pulse carries out three-dimensional
Orthogonal Decomposition is projected to X-axis, Y-axis and Z axis reference axis, to form the positioning system of relative position navigation；And it introduces to have and pass
Return the Bayesian filter of characteristic to be modified the relative position of robot motion, obtains pipeline climbing robot three-dimensional coordinate
After observation, pipeline climbing robot probability distribution of t moment estimated location in pipeline is set as Mt:
Mt=p (Mt|M1:t-1,N1:t-1)
In formula, M1:t-1With N1:t-1It is characterized respectively from the t=1 moment to t-1 moment pipeline climbing robot estimated location in pipeline
With the probability distribution of observation position；Collected on gyroscope pipeline climbing robot in pipeline the observation position of t moment it is general
Rate distribution is modeled as Nt:
Nt=p (Nt|M1:t,N1:t-1)M1:t
The observed quantity of gyroscope acquisition and pipeline climbing robot have independence, and assume t moment pipeline climbing robot
Position it is only related with the t-1 moment, introduce naive Bayesian thought and Markov Chain and simplify pipeline climbing robot position and estimate
Model is counted, and introduces batch processing method and recurrence is carried out to all previous Bayesian filter calculated result, constructs t moment pipeline crawling machine
People position estimation value p (Mt|N1:t-1) and t-1 moment p (Mt-1|N1:t-1) relationship:
p(Mt|N1:t-1)=∫ p (Mt|Mt-1)p(Mt-1|N1:t-1)dMt-1
Pass through the collected t moment observation position N of gyroscopetPipeline climbing robot position estimation value is updated, thus when obtaining t
Carve the Posterior distrbutionp p (M of pipeline climbing robot positiont|N1:t):
After the Posterior distrbutionp of t moment pipeline climbing robot position is calculated, as subsequent time t+1 moment pipeline creeper
The prior distribution of device people, to complete the batch processing of Bayesian filter algorithm；Enhance relative position using Bayesian filter algorithm
The navigation and positioning accuracy of the pipeline climbing robot of navigation feature.
2. a kind of pipeline climbing robot with relative position navigation feature according to claim 1, which is characterized in that
The crank is circular crank；The section of the crank be it is I-shaped, crank two sides are provided with through-hole and are point-blank distributed,
It is connected by a hinge with connecting rod.
3. a kind of pipeline climbing robot with relative position navigation feature according to claim 1, which is characterized in that
Sliding slot in the large arm is T-shaped sliding slot, symmetrical on the section of large arm, one of as station is retained, and is enhanced
The use versatility of robot's arm.
4. a kind of pipeline climbing robot with relative position navigation feature according to claim 1, which is characterized in that
In the large arm driving mechanism, the motion bracket, optical axis, optical axis seat and connecting rod it is equal there are two, be arranged symmetrically about crank, transport
Two large arm are connected on dynamic bracket, and a crank is only used in large arm driving mechanism and drives four large arm while moving.
5. a kind of pipeline climbing robot with relative position navigation feature according to claim 1, which is characterized in that
The robot also has bottom roller part, and the bottom roller part includes a driving wheel, universal wheel a, universal wheel b, rolling
Wheel pedestal and roller seat bogie, the driving wheel, universal wheel a and universal wheel b are installed in roller seat, the active
Wheel drives the center rotation of encoder, encoder by the motor driven being connected with the center of the encoder when driving wheel rotates
Pulse signal is generated, and records the actual displacement of pipeline climbing robot；The roller seat and forearm are turned by roller seat
It is connected as revolute to frame, the forearm can drive the rotation of roller seat bogie to realize the roller seat and driving wheel
Steering.
6. a kind of pipeline climbing robot with relative position navigation feature according to claim 5, which is characterized in that
The roller seat is also fixed with universal wheel a spring and universal wheel b spring, and the universal wheel a spring and universal wheel b spring are another
Universal wheel a retainer and universal wheel b retainer has been respectively fixedly connected in end, and the universal wheel a retainer is connected with universal wheel b retainer
There are universal wheel a and universal wheel b.
7. a kind of pipeline climbing robot with relative position navigation feature according to claim 6, which is characterized in that
When pipeline climbing robot creep encounter barrier on the way when, the universal wheel a spring and universal wheel b spring for reduce across
Obstacle-overpass object causes to damage to the machinery of robot with electrical system；It is described when pipeline climbing robot changes itself posture
Universal wheel a spring and universal wheel b spring are used to compensate the axial displacement and radial deflection of pipeline climbing robot, so that pipeline is climbed
Row robot can preferably be adjacent to tube wall, increase the contact area of pipeline climbing robot and pipeline, and then increase robot fortune
Stability during dynamic.
8. a kind of pipeline climbing robot with relative position navigation feature according to claim 6, which is characterized in that
The universal wheel a retainer and universal wheel b retainer can provide adaptive turning function for universal wheel a and universal wheel b.
9. a kind of pipeline climbing robot with relative position navigation feature according to claim 1, which is characterized in that
Threshold value is arranged to the gyroscope signal of acquisition in the controller, when the gyroscope signal is less than threshold value, controller without
Steering operation, when the gyroscope signal exceeds threshold value, controller controls pipeline climbing robot and completes to turn to, and will coding
The accumulated pulse number of device empties, and starts the encoder pulse count of a new round.
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