CN110500470B - Pipeline crawling robot with relative position navigation function - Google Patents
Pipeline crawling robot with relative position navigation function Download PDFInfo
- Publication number
- CN110500470B CN110500470B CN201910864921.5A CN201910864921A CN110500470B CN 110500470 B CN110500470 B CN 110500470B CN 201910864921 A CN201910864921 A CN 201910864921A CN 110500470 B CN110500470 B CN 110500470B
- Authority
- CN
- China
- Prior art keywords
- robot
- pipeline
- crawling robot
- universal wheel
- pipeline crawling
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 230000009193 crawling Effects 0.000 title claims abstract description 119
- 230000007246 mechanism Effects 0.000 claims abstract description 55
- 238000000034 method Methods 0.000 claims abstract description 6
- 238000005452 bending Methods 0.000 claims abstract description 5
- 230000008569 process Effects 0.000 claims abstract description 5
- 230000003287 optical effect Effects 0.000 claims description 27
- 238000006073 displacement reaction Methods 0.000 claims description 16
- 238000001914 filtration Methods 0.000 claims description 11
- 210000000245 forearm Anatomy 0.000 claims description 7
- 238000004364 calculation method Methods 0.000 claims description 5
- 238000005259 measurement Methods 0.000 claims description 4
- 230000003044 adaptive effect Effects 0.000 claims description 3
- 238000000354 decomposition reaction Methods 0.000 claims description 3
- 238000012545 processing Methods 0.000 claims description 3
- 238000003672 processing method Methods 0.000 claims description 3
- 230000005484 gravity Effects 0.000 abstract description 4
- 230000008439 repair process Effects 0.000 abstract description 4
- 230000009286 beneficial effect Effects 0.000 abstract description 2
- 238000007689 inspection Methods 0.000 abstract description 2
- 230000004888 barrier function Effects 0.000 abstract 1
- 241000282414 Homo sapiens Species 0.000 description 3
- 238000013461 design Methods 0.000 description 2
- 238000001514 detection method Methods 0.000 description 2
- 230000003750 conditioning effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000003014 reinforcing effect Effects 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- 231100000331 toxic Toxicity 0.000 description 1
- 230000002588 toxic effect Effects 0.000 description 1
Classifications
-
- 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
-
- 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
-
- 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 a pipeline crawling robot with a relative position navigation function, which comprises an image acquisition part, a robot main body, an arm mechanism and a relative positioning system, wherein the image acquisition part is used for acquiring images of a pipeline; the image acquisition part is used for identifying targets and barriers in the walking process of the robot, the robot main body is used as a robot bearing structure and used for connecting other structures, and the arm mechanism is used for driving the robot to move in the pipeline. The pipeline crawling robot realizes the work of inspection, repair and the like of a special space such as a pipeline, has a positioning system for relative position navigation, only uses one crank in a big arm driving mechanism of the pipeline crawling robot to drive four big arms to move simultaneously, increases the compactness of the mechanism, ensures the coordination of the movement of the big arms of the robot, and is beneficial to keeping the stability and balance of the gravity center of the robot in a wet and slippery pipe wall; when the pipeline crawling robot faces different pipe diameters in the pipeline, the robot can pass through the pipelines with different pipe diameters by changing the bending amount of the small arm.
Description
Technical Field
The invention relates to the technical field of robots, in particular to a pipeline crawling robot with a relative position navigation function.
Background
A pipeline crawling robot is a special robot which is commonly used for working in narrow pipeline spaces which cannot be accessed by human bodies, and dangerous work is carried out in severe environments and toxic environments which cannot be adapted by the human bodies. The pipeline crawling robot can replace human beings to detect and repair pipelines in severe environments, the pipeline crawling robot can walk inside the pipeline along the inner wall of the pipeline, meanwhile, the pipeline crawling robot can carry a plurality of sensors and operating tools, and workers can operate the pipeline crawling robot outside the pipeline through control to carry out a series of pipeline detection, repair and other various operations. With the rapid development of robots, pipeline crawling robots are paid attention to all countries around the world, and meanwhile, application researches on the pipeline crawling robots are also becoming mature.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provides a pipeline crawling robot with a relative position navigation function.
The aim of the invention is realized by the following technical scheme: a pipeline crawling robot with a relative position navigation function comprises an image acquisition part, a robot main body, an arm mechanism and a relative positioning system;
the image acquisition part comprises a camera, a pitching mechanism and a steering mechanism, wherein the camera and the pitching mechanism are both fixed on the steering mechanism, the camera acquires image information in a pipeline, the camera is connected with the steering mechanism through the pitching mechanism, the pitching mechanism is used for enabling the camera to ascend or descend and changing the up-and-down swinging position of the camera, and the steering mechanism is used for enabling the camera and the pitching mechanism to rotate 180 degrees;
the robot main body is used as a robot bearing structure and comprises a front cover plate and a rear cover plate, wherein an annular bearing bracket, a needle bearing, an eccentric weight and a gyroscope are arranged on the rear cover plate; the bearing support is in interference fit with an outer ring of the needle bearing, an inner ring of the needle bearing is in interference fit with an eccentric weight, the eccentric weight is in a circular ring shape, rotary motion can be carried out through the needle bearing, a semicircular balancing weight is arranged in the bearing, a gyroscope is arranged on the balancing weight, and the balancing weight is used for reducing the influence of rotary deviation of a robot caused by topographical features on the measurement accuracy of the gyroscope;
the arm mechanism comprises a large arm, a power rod, a small arm, a screw motor, a screw, a connector and a large arm driving mechanism;
the large arm is provided with a sliding groove and is connected with the small arm through a rotary hinge, the screw rod motor is fixedly connected with the screw rod, the screw rod and one end of the connector form a screw pair, the other end of the connector is fixedly connected with the power rod, and the small arm is connected with the power rod through a pin. The screw rod motor controls the positions of the connector and the power rod by controlling the rotation amount of the screw rod, so that the control of the forearm is finally realized; when the pipeline crawling robot faces different pipe diameters in the pipeline, the bending amount of the small arm is changed by adjusting the screw rod motor, so that the robot can pass through the pipelines with different pipe diameters;
the large arm driving mechanism comprises a sliding block, a moving bracket, an optical axis seat, a connecting rod and a crank; the crank and the optical axis seat are arranged on a front cover plate of the robot main body, the crank is connected with the connecting rod through a hinge, the connecting rod is connected with the optical axis through an optical axis seat, the connecting rod is used for transmitting the driving force of the crank to the optical axis, the optical axis is fixedly connected with the moving support, and the optical axis seat form a moving pair and are used for restricting the movement of the moving support so that the movement of the moving support can only move along the direction of the vertical central line of the robot; the sliding block is T-shaped in cross section and is matched with the sliding groove on the large arm, and the moving support is hinged with the sliding block and is used for ensuring that the sliding block does not move radially when being matched with the sliding groove;
the relative positioning system comprises an encoder, a gyroscope, a controller and a power supply module; the power module and the controller are fixedly connected to a rear cover plate of the robot main body, and the center of the encoder is connected with a driving wheel motor; the encoder and the gyroscope are connected with the controller; the controller, the encoder and the gyroscope are all connected with the power supply module; the gyroscope can collect pitch angle, roll angle and course angle of the pipeline crawling robot; when the center of the encoder rotates, the encoder generates pulse signals, the controller performs accumulated count on the pulse signals of the encoder, converts the accumulated pulse numbers into linear displacement length of the pipeline crawling robot, writes the linear displacement length and angular displacement generated by the gyroscope into the controller, and controls the pipeline crawling robot to turn;
when the pipeline crawling robot starts up to work, the controller establishes an Euler coordinate system conforming to a right hand rule by taking an initial crawling direction as an X axis and taking an initial horizontal plane as an XOY plane, and the controller carries out three-dimensional orthogonal decomposition on an operation result of each accumulated pulse count and projects the operation result onto X axis, Y axis and Z axis coordinate axes so as to form a positioning system of relative position navigation; and is introduced withThe relative position of the robot motion is corrected through Bayesian filtering with recursion characteristics, and after the observed value of the three-dimensional coordinates of the pipeline crawling robot is obtained, the probability distribution of the estimated position of the pipeline crawling robot at the time t in the pipeline is M t ：
M t ＝p(M t |M 1:t-1 ,N 1:t-1 )
Wherein M is 1:t-1 And N 1:t-1 Respectively representing probability distribution of estimated positions and observed positions of the pipeline crawling robot in the pipeline from the time t=1 to the time t-1; the probability distribution of the observation position of the pipeline crawling robot in the pipeline at the time t, acquired on the gyroscope, is modeled as N t ：
N t ＝p(N t |M 1:t ,N 1:t-1 )M 1:t
The observed quantity acquired by the gyroscope is independent of the pipeline crawling robot, the position of the pipeline crawling robot at the moment t is only related to the moment t-1, a naive Bayesian idea and a Markov chain are introduced to simplify a pipeline crawling robot position estimation model, a batch processing method is introduced to recursion the calendar Bayesian filtering calculation result, and a position estimation value p (M t |N 1:t-1 ) And time p (M) at t-1 t-1 |N 1:t-1 ) Is the relation of:
p(M t |N 1:t-1 )＝∫p(M t |M t-1 )p(M t-1 |N 1:t-1 )dM t-1
observing position N at t moment acquired by gyroscope t Updating the estimated position value of the pipeline crawling robot to obtain posterior distribution p (M) of the position of the pipeline crawling robot at the moment t t |N 1:t )：
After posterior distribution of the position of the pipeline crawling robot at the moment t is calculated, the posterior distribution is used as prior distribution of the pipeline crawling robot at the moment t+1 of the next moment, and therefore batch processing of a Bayesian filtering algorithm is completed; and the navigation positioning accuracy of the pipeline crawling robot with the relative position navigation function is enhanced by using a Bayesian filtering algorithm.
Further, the crank is a round crank; the section of the crank is I-shaped, through holes are formed in two sides of the crank and distributed on the same straight line, and the crank is connected with the connecting rod through a hinge.
Further, the sliding grooves on the large arm are T-shaped sliding grooves and are symmetrically distributed on the section of the large arm, one of the sliding grooves is used as a reserved station, and the use universality of the large arm of the robot is enhanced.
Further, in the big arm driving mechanism, the two moving brackets, the optical axis seat and the connecting rod are symmetrically arranged about the crank, the two big arms are connected to the moving brackets, and only one crank is used for driving the four big arms to move simultaneously in the big arm driving mechanism.
The pipeline crawling robot is characterized by further comprising a bottom roller part, wherein the bottom roller part comprises a driving wheel, a universal wheel a, a universal wheel b, a roller base and a roller base bogie, the driving wheel, the universal wheel a and the universal wheel b are all arranged on the roller base, the driving wheel is driven by a motor connected with the center of the encoder, the encoder is driven to rotate when the driving wheel rotates, the encoder generates pulse signals, and the actual displacement of the pipeline crawling robot is recorded; the roller base and the small arm are connected into a revolute pair through the roller base bogie, and the small arm can drive the roller base bogie to rotate so as to realize the steering of the roller base and the driving wheel.
Further, the roller base is fixedly connected with a universal wheel a spring and a universal wheel b spring, the other ends of the universal wheel a spring and the universal wheel b spring are respectively fixedly connected with a universal wheel a retainer and a universal wheel b retainer, and the universal wheel a retainer and the universal wheel b retainer are connected with a universal wheel a and a universal wheel b.
Further, when the pipeline crawling robot encounters an obstacle during crawling, the universal wheel a spring and the universal wheel b spring are used for reducing damage to mechanical and electrical systems of the robot caused by crossing the obstacle; when the pipeline crawling robot changes the posture of the pipeline crawling robot, the universal wheel a spring and the universal wheel b spring are used for compensating the axial displacement and the radial deflection of the pipeline crawling robot, so that the pipeline crawling robot can be better attached to the pipe wall, the contact area between the pipeline crawling robot and the pipeline is increased, and the stability of the robot in the movement process is further increased.
Further, the caster a and caster b holders can provide adaptive steering functions for caster a and caster b.
Further, the controller sets a threshold value for the collected gyroscope signal, when the gyroscope signal is smaller than the threshold value, the controller does not conduct steering operation, and when the gyroscope signal exceeds the threshold value, the controller controls the pipeline crawling robot to complete steering, the accumulated pulse number of the encoder is emptied, and the encoder pulse count of a new round is started.
The invention has the beneficial effects that: the pipeline crawling robot realizes the work of inspection, repair and the like of a pipeline which is a special space and has a positioning system for relative position navigation. The four large arms are driven to move simultaneously by only one crank in the large arm driving mechanism of the pipeline crawling robot, so that the compactness of the mechanism is improved, the arrangement of a power device is reduced, the coordination of the movement of the large arms of the robot is ensured, the robot is facilitated to keep the stability and balance of the gravity center in the wet and slippery pipe wall, the design of a logic circuit is reduced, and the complexity of a robot system is reduced; when the pipeline crawling robot faces different pipe diameters in the pipeline, the bending amount of the forearm is changed by adjusting the screw motor, so that the robot can pass through pipelines with different pipe diameters.
Drawings
FIG. 1 is a general schematic of the present invention;
FIG. 2 is a general schematic view of the present invention at a back view;
FIG. 3 is a schematic illustration of an arm mechanism of the present invention;
FIG. 4 is a schematic cross-sectional view of a large arm of the present invention;
FIG. 5 is a schematic view of the bottom roller of the present invention;
FIG. 6 is a relative position navigation data acquisition diagram;
fig. 7 is a flow chart of bayesian filtered position estimation.
In the figure, 1. A camera; 2. a pitch mechanism; 3. a steering mechanism; 4. a front cover plate; 5. a back cover plate; 6. a large arm; 7. a power lever; 8. a forearm; 9. a chute; 10. a slide block; 11. a motion bracket; 12. an optical axis; 13. a light shaft seat; 14. a connecting rod; 15. a crank; 16. a bearing support; 17. needle roller bearings; 18. an eccentric weight; 19. a gyroscope; 20. a screw motor; 21. a connector; 22. a rotary hinge; 23. a roller base bogie; 24. a universal wheel a spring; 25. a universal wheel a retainer; 26. a universal wheel a;27. a universal wheel b spring; 28. a universal wheel b retainer; 29. a universal wheel b;30. an encoder; 31. a driving wheel; 32. a roller base; 33. a screw rod; 34. and a driving wheel motor.
Detailed Description
The following describes the embodiments of the present invention in further detail with reference to the drawings.
As shown in fig. 1, a pipeline crawling robot with a relative position navigation function comprises an image acquisition part, a robot main body, an arm mechanism and a relative positioning system;
the image acquisition part is used for identifying targets and obstacles in the walking process of the robot and comprises a camera 1, a pitching mechanism 2 and a steering mechanism 3, wherein the camera 1 and the pitching mechanism 2 are both fixed on the steering mechanism 3, the camera 1 acquires image information in a pipeline to realize detection of the surrounding environment of the robot, the camera 1 and the steering mechanism 3 are connected through the pitching mechanism 2, the pitching mechanism 2 enables the camera 1 to ascend or descend, the up-and-down swinging position of the camera 1 is changed, the acquisition range of the camera 1 is enlarged, the steering mechanism 3 is used as a base structure of the image acquisition part, and the camera 1 and the pitching mechanism 2 can rotate 180 degrees, so that the pipeline crawling robot is wider in identification range;
as shown in fig. 2, the robot main body is used as a robot bearing structure and is used for connecting other structures, including a front cover plate 4 and a rear cover plate 5, and an annular bearing bracket 16, a needle bearing 17, an eccentric weight 18 and a gyroscope 19 are arranged on the rear cover plate 5; the bearing bracket 16 is in interference fit with an outer ring of the needle bearing 17, an inner ring of the needle bearing 17 is in interference fit with the eccentric weight 18, the eccentric weight 18 is in a circular ring shape, the needle bearing 17 can carry out rotary motion, a semicircular balancing weight is arranged in the bearing bracket, a gyroscope 19 is arranged on the balancing weight, and the balancing weight can reduce the influence of rotary deviation of a robot caused by topographical features on the measurement precision of the gyroscope 19;
as shown in fig. 3-4, the arm mechanism drives the robot to move in the pipeline, and comprises a big arm 6, a power rod 7, a small arm 8, a screw motor 20, a screw 33, a connector 21 and a big arm driving mechanism;
the cross section symmetry of big arm 6 distributes has two T font spouts 9, and one of them is as keeping the station, and the use commonality of reinforcing robot big arm 6, big arm 6 links to each other through swivel hinge 22 and forearm 8, swivel hinge 22 does not provide the initiative power by itself, only plays the effect of connection, lead screw motor 20 links firmly with lead screw 33, lead screw 33 forms the screw pair with the one end of connector 21, the other end and the power pole 7 of connector 21 link firmly, forearm 8 and power pole 7 pass through the pin connection. The screw motor 20 controls the positions of the connector 21 and the power rod 7 by controlling the rotation amount of the screw 33, and finally controls the forearm 8; when the robot faces different pipe diameters in the pipeline, the bending amount of the small arm 8 is changed by adjusting the screw motor 20, so that the robot can pass through the pipelines with different pipe diameters;
the large arm driving mechanism comprises a sliding block 10, a moving bracket 11, an optical axis 12, an optical axis seat 13, a connecting rod 14 and a crank 15; the crank 15 and the optical axis seat 13 are arranged on the front cover plate 4 of the robot main body, and the crank 15 is a round crank, so that the diameter of the shaft diameter is increased, and the reliability of the mechanism is enhanced; the section of the crank 15 is I-shaped, two sides of the crank 15 are provided with through holes and distributed on a straight line, and the crank is connected with the connecting rod 14 through a hinge; the crank 15 is connected with the connecting rod 14 through a hinge, the connecting rod 14 is connected with the optical axis 12 through the optical axis seat 13, the connecting rod 14 can transmit the driving force of the crank 15 to the optical axis 12 through the hinge, the optical axis 12 is fixedly connected with the moving support 11, and the optical axis 12 and the optical axis seat 13 form a moving pair for restricting the movement of the moving support 11 so that the movement of the moving support can only move along the direction of the vertical central line of the robot; the section of the sliding block 10 is T-shaped and is matched with the sliding groove 9 on the big arm 6, and the moving bracket 11 is hinged with the sliding block 10 and is used for ensuring that the sliding block 10 does not move radially when being matched with the sliding groove 9; in the big arm driving mechanism, the two moving brackets 11, the optical axis 12, the optical axis seat 13 and the connecting rod 14 are symmetrically arranged about the crank 15, the two big arms 6 are connected to the moving bracket 11, and only one crank 15 is used for driving the four big arms to move simultaneously in the big arm driving mechanism, so that the arrangement of a power device is reduced, the compactness of the mechanism is improved, the coordination of the movement of the big arms of the robot is ensured, the symmetry of opening angles among the big arms is realized, the stability and balance of the center of gravity of the robot in a wet and slippery pipe wall are facilitated, the design of a logic circuit is reduced, and the complexity of a robot system is reduced.
As shown in fig. 5, the pipeline crawling robot further has a bottom roller part, the bottom roller part comprises a driving wheel 31, a universal wheel a26, a universal wheel b29, a roller base 32 and a roller base bogie 23, the driving wheel 31, the universal wheel a26 and the universal wheel b29 are all installed on the roller base 32, the driving wheel 31 is driven by a driving wheel motor 34 connected with a central rotating part of the encoder 30, so that the pipeline crawling robot can move forward and backward, the central rotating part of the encoder 30 is driven to rotate when the driving wheel 31 rotates, the encoder 30 generates pulse signals, the actual displacement of the pipeline crawling robot is recorded, and the walking path of the pipeline crawling robot can be obtained according to the diameter of the driving wheel 31 and the resolution of the encoder 30; the roller base 32 is connected with the small arm 8 through the roller base bogie 23 to form a revolute pair, the small arm 8 can drive the roller base bogie 23 to rotate to realize the steering of the roller base 32 and the driving wheel 31, the roller base bogie 23 is matched with the driving wheel 31 to enable the pipeline crawling robot to crawl along the axis direction of the pipeline, driving force for the robot to move along the circumferential direction can be provided, and when the gravity center of the pipeline crawling robot shifts, the roller base bogie 23 is matched with the driving wheel 31 to enable the overall posture adjustment of the robot to reduce the possibility of overturning of the pipeline crawling robot in the pipeline.
The roller base 32 is also fixedly connected with a universal wheel a spring 24 and a universal wheel b spring 27, the other ends of the universal wheel a spring 24 and the universal wheel b spring 27 are respectively fixedly connected with a universal wheel a retainer 25 and a universal wheel b retainer 28, and the universal wheel a retainer 25 and the universal wheel b retainer 28 are connected with a universal wheel a26 and a universal wheel b29.
When the pipeline crawling robot encounters an obstacle during crawling, the universal wheel a springs 24 and the universal wheel b springs 27 can provide an obstacle avoidance function for the pipeline crawling robot so as to reduce damage to mechanical and electrical systems of the robot caused by crossing the obstacle; when the pipeline crawling robot changes the posture of the pipeline crawling robot, the universal wheel a springs 24 and the universal wheel b springs 27 can compensate the axial displacement and the radial deflection of the pipeline crawling robot, so that the pipeline crawling robot can be better attached to the pipe wall, the contact area between the pipeline crawling robot and the pipeline is increased, and the stability of the robot in the movement process is further improved.
The caster a holder 25 and caster b holder 28 can provide an adaptive steering function for the caster a26 and caster b29.
As shown in fig. 6, the relative positioning system includes an encoder 30, a gyroscope 19, a controller, and a power module; the power module and the controller are fixedly connected to the rear cover plate 5 of the robot main body, and the central rotating part of the encoder 30 is connected with a driving wheel motor 34; the encoder 30 and the gyroscope 19 are connected with a controller; the common end of the controller, the common end of the encoder 30 and the common end of the gyroscope 19 are connected with the negative electrode of the power supply module; the power supply module supplies power to the encoder 30, the gyroscope 19, the controller and the auxiliary conditioning circuit; the gyroscope 19 can collect pitch angle, roll angle and course angle of the pipeline crawling robot; when the central rotation portion of the encoder 30 rotates, the encoder 30 generates a pulse signal, and the controller performs an accumulated count of the encoder 30 pulse signal; due to noise interference and measurement errors, the controller sets a threshold value for the collected signals of the gyroscope 19, when the signals of the gyroscope 19 are smaller than the threshold value, the controller considers that the pipeline crawling robot does not turn, when the signals of the gyroscope 19 exceed the threshold value, the controller stops accumulated counting of pulse signals of the encoder 30, converts the accumulated pulse numbers into linear displacement length of the pipeline crawling robot, writes the linear displacement length into the controller together with the angular displacement generated by the gyroscope 19, controls the steering of the pipeline crawling robot through the controller, and when the steering of the pipeline crawling robot is completed, namely the angular displacement variation of the gyroscope 19 is smaller than the threshold value, the controller empties the accumulated pulse numbers of the encoder 30 and starts a new round of pulse counting of the encoder 30;
when the pipeline crawling robot starts to work, the controller starts to run a program to finish initialization, the controller takes a starting point of program running as an origin, the controller takes an initial crawling direction as an X axis, an initial horizontal plane as an XOY plane to establish an Euler coordinate system conforming to a right hand rule, and the controller carries out three-dimensional orthogonal decomposition on a circulating running result of each accumulated pulse count and projects the circulating running result onto X axis, Y axis and Z axis coordinate axes to form a positioning system of relative position navigation;
as shown in fig. 7, in consideration of certain noise and error introduced when sensor data are acquired, in order to enhance navigation positioning accuracy of the pipeline crawling robot with relative position navigation function, bayesian filtering with recursion characteristic is introduced to correct the relative position of the robot motion, after the observed value of the three-dimensional coordinates of the pipeline crawling robot is obtained, the probability distribution of the estimated position of the pipeline crawling robot at the time t in the pipeline is set as M t ：
M t ＝p(M t |M 1:t-1 ,N 1:t-1 )
Wherein M is 1:t-1 And N 1:t-1 Respectively representing probability distribution of estimated positions and observed positions of the pipeline crawling robot in the pipeline from the time t=1 to the time t-1; the gyroscope acquires that the observation position of the pipeline crawling robot at the time t in the pipeline is modeled as N t ：
N t ＝p(N t |M 1:t ,N 1:t-1 )M 1:t
Wherein M is 1:t Meaning of (1) is to characterize a probability distribution of estimated positions of the pipeline crawling robot in the pipeline from time t=1 to time t, to consider that the observed quantity acquired by the sensor is independent from the pipeline crawling robot, and to assume thatthe position of the pipeline crawling robot at the moment t is only related to the moment t-1, a naive Bayesian idea and a Markov chain simplified pipeline crawling robot position estimation model are introduced, and the fact that the traditional Bayesian algorithm needs to introduce the historical results into a calculation formula when solving is considered, so that the method can not only increase the storage space of a controller of the pipeline crawling robot, but also cause serious calculation pressure for the robot after long-time operation. Therefore, a batch processing method is introduced to recursion the calendar Bayesian filtering calculation result, and the position estimation value p (M) of the pipeline crawling robot at the moment t is constructed t |N 1:t-1 ) And time p (M) at t-1 t-1 |N 1:t-1 ) Is the relation of:
p(M t |N 1:t-1 )＝∫p(M t |M t-1 )p(M t-1 |N 1:t-1 )dM t-1
then observing the position N at the time t acquired by the sensor t Updating the estimated position value of the pipeline crawling robot to obtain posterior distribution p (M) of the position of the pipeline crawling robot at the moment t t |N 1:t )：
After posterior distribution of the position of the pipeline crawling robot at the moment t is calculated, the posterior distribution is used as prior distribution of the pipeline crawling robot at the moment t+1 of the next moment, and therefore batch processing of a Bayesian filtering algorithm is completed.
The above-described embodiments are intended to illustrate the present invention, not to limit it, and any modifications and variations made thereto are within the spirit of the invention and the scope of the appended claims.
Claims (9)
1. The pipeline crawling robot with the relative position navigation function is characterized by comprising an image acquisition part, a robot main body, an arm mechanism and a relative positioning system;
the image acquisition part comprises a camera, a pitching mechanism and a steering mechanism, wherein the camera and the pitching mechanism are both fixed on the steering mechanism, the camera acquires image information in a pipeline, the camera is connected with the steering mechanism through the pitching mechanism, the pitching mechanism is used for enabling the camera to ascend or descend and changing the up-and-down swinging position of the camera, and the steering mechanism is used for enabling the camera and the pitching mechanism to rotate 180 degrees;
the robot main body is used as a robot bearing structure and comprises a front cover plate and a rear cover plate, wherein an annular bearing bracket, a needle bearing, an eccentric weight and a gyroscope are arranged on the rear cover plate; the bearing support is in interference fit with an outer ring of the needle bearing, an inner ring of the needle bearing is in interference fit with an eccentric weight, the eccentric weight is in a circular ring shape, rotary motion can be carried out through the needle bearing, a semicircular balancing weight is arranged in the bearing, a gyroscope is arranged on the balancing weight, and the balancing weight is used for reducing the influence of rotary deviation of a robot caused by topographical features on the measurement accuracy of the gyroscope;
the arm mechanism comprises a large arm, a power rod, a small arm, a screw motor, a screw, a connector and a large arm driving mechanism;
the large arm is provided with a sliding groove and is connected with the small arm through a rotary hinge, the screw rod motor is fixedly connected with the screw rod, a screw pair is formed between the screw rod and one end of the connector, the other end of the connector is fixedly connected with the power rod, and the small arm is connected with the power rod through a pin; the screw rod motor controls the positions of the connector and the power rod by controlling the rotation amount of the screw rod, so that the control of the forearm is finally realized; when the pipeline crawling robot faces different pipe diameters in the pipeline, the bending amount of the small arm is changed by adjusting the screw rod motor, so that the robot can pass through the pipelines with different pipe diameters;
the large arm driving mechanism comprises a sliding block, a moving bracket, an optical axis seat, a connecting rod and a crank; the crank and the optical axis seat are arranged on a front cover plate of the robot main body, the crank is connected with the connecting rod through a hinge, the connecting rod is connected with the optical axis through an optical axis seat, the connecting rod is used for transmitting the driving force of the crank to the optical axis, the optical axis is fixedly connected with the moving support, and the optical axis seat form a moving pair and are used for restricting the movement of the moving support so that the movement of the moving support can only move along the direction of the vertical central line of the robot; the sliding block is T-shaped in cross section and is matched with the sliding groove on the large arm, and the moving support is hinged with the sliding block and is used for ensuring that the sliding block does not move radially when being matched with the sliding groove;
the relative positioning system comprises an encoder, a gyroscope, a controller and a power supply module; the power module and the controller are fixedly connected to a rear cover plate of the robot main body, and the center of the encoder is connected with a driving wheel motor; the encoder and the gyroscope are connected with the controller; the controller, the encoder and the gyroscope are all connected with the power supply module; the gyroscope can collect pitch angle, roll angle and course angle of the pipeline crawling robot; when the center of the encoder rotates, the encoder generates pulse signals, the controller performs accumulated count on the pulse signals of the encoder, converts the accumulated pulse numbers into linear displacement length of the pipeline crawling robot, writes the linear displacement length and angular displacement generated by the gyroscope into the controller, and controls the pipeline crawling robot to turn;
when the pipeline crawling robot starts up to work, the controller establishes an Euler coordinate system conforming to a right hand rule by taking an initial crawling direction as an X axis and taking an initial horizontal plane as an XOY plane, and the controller carries out three-dimensional orthogonal decomposition on an operation result of each accumulated pulse count and projects the operation result onto X axis, Y axis and Z axis coordinate axes so as to form a positioning system of relative position navigation; and Bayesian filtering with recursion characteristics is introduced to correct the relative position of the robot motion, and after the observed value of the three-dimensional coordinate of the pipeline crawling robot is obtained, the probability distribution of the estimated position of the pipeline crawling robot at the time t in the pipeline is M t ：
M t ＝p(M t |M 1:t-1 ,N 1:t-1 )
Wherein M is 1:t-1 And N 1:t-1 Respectively representing probability distribution of estimated positions and observed positions of the pipeline crawling robot in the pipeline from the time t=1 to the time t-1; the probability distribution of the observation position of the pipeline crawling robot in the pipeline at the time t, acquired on the gyroscope, is modeled as N t ：
N t ＝p(N t |M 1:t ,N 1:t-1 )M 1:t
The observed quantity acquired by the gyroscope is independent of the pipeline crawling robot, the position of the pipeline crawling robot at the moment t is only related to the moment t-1, a naive Bayesian idea and a Markov chain are introduced to simplify a pipeline crawling robot position estimation model, a batch processing method is introduced to recursion the calendar Bayesian filtering calculation result, and a position estimation value p (M t |N 1:t-1 ) And time p (M) at t-1 t-1 |N 1:t-1 ) Is the relation of:
p(M t |N 1:t-1 )＝∫p(M t |M t-1 )p(M t-1 |N 1:t-1 )dM t-1
observing position N at t moment acquired by gyroscope t Updating the estimated position value of the pipeline crawling robot to obtain posterior distribution p (M) of the position of the pipeline crawling robot at the moment t t |N 1:t )：
After posterior distribution of the position of the pipeline crawling robot at the moment t is calculated, the posterior distribution is used as prior distribution of the pipeline crawling robot at the moment t+1 of the next moment, and therefore batch processing of a Bayesian filtering algorithm is completed; and the navigation positioning accuracy of the pipeline crawling robot with the relative position navigation function is enhanced by using a Bayesian filtering algorithm.
2. The pipe crawling robot with relative position navigation function according to claim 1, characterized in that said crank is a circular crank; the section of the crank is I-shaped, through holes are formed in two sides of the crank and distributed on the same straight line, and the crank is connected with the connecting rod through a hinge.
3. The pipeline crawling robot with the relative position navigation function according to claim 1, wherein the sliding grooves on the large arm are T-shaped sliding grooves and are symmetrically distributed on the section of the large arm, one of the sliding grooves is used as a reserved station, and the universality of the use of the large arm of the robot is improved.
4. The pipeline crawling robot with the relative position navigation function according to claim 1, wherein two of the large arm driving mechanisms are arranged symmetrically about the crank, two large arms are connected to the moving bracket, and only one crank is used for driving four large arms to move simultaneously.
5. The robot of claim 1, further comprising a bottom roller part, wherein the bottom roller part comprises a driving wheel, a universal wheel a, a universal wheel b, a roller base and a roller base bogie, wherein the driving wheel, the universal wheel a and the universal wheel b are all arranged on the roller base, the driving wheel is driven by a motor connected with the center of the encoder, the center of the encoder is driven to rotate when the driving wheel rotates, the encoder generates a pulse signal, and the actual displacement of the robot of the pipeline crawling is recorded; the roller base and the small arm are connected into a revolute pair through the roller base bogie, and the small arm can drive the roller base bogie to rotate so as to realize the steering of the roller base and the driving wheel.
6. The pipeline crawling robot with the relative position navigation function according to claim 5, wherein the roller base is further fixedly connected with a universal wheel a spring and a universal wheel b spring, the other ends of the universal wheel a spring and the universal wheel b spring are respectively fixedly connected with a universal wheel a retainer and a universal wheel b retainer, and the universal wheel a retainer and the universal wheel b retainer are connected with a universal wheel a and a universal wheel b.
7. The pipeline crawling robot with relative position navigation function as claimed in claim 6, wherein when the pipeline crawling robot encounters an obstacle during crawling, the universal wheel a springs and the universal wheel b springs are used for reducing damage to mechanical and electrical systems of the robot caused by crossing the obstacle; when the pipeline crawling robot changes the posture of the pipeline crawling robot, the universal wheel a spring and the universal wheel b spring are used for compensating the axial displacement and the radial deflection of the pipeline crawling robot, so that the pipeline crawling robot can be better attached to the pipe wall, the contact area between the pipeline crawling robot and the pipeline is increased, and the stability of the robot in the movement process is further increased.
8. The pipe crawling robot with relative position navigation function according to claim 6, wherein said universal wheel a holder and universal wheel b holder can provide adaptive steering functions for universal wheels a and b.
9. The robot of claim 1, wherein the controller sets a threshold for the collected gyro signal, and when the gyro signal is less than the threshold, the controller does not perform a steering operation, and when the gyro signal exceeds the threshold, the controller controls the robot to complete steering, clears the accumulated number of pulses of the encoder, and starts a new round of encoder pulse counting.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910864921.5A CN110500470B (en) | 2019-09-09 | 2019-09-09 | Pipeline crawling robot with relative position navigation function |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910864921.5A CN110500470B (en) | 2019-09-09 | 2019-09-09 | Pipeline crawling robot with relative position navigation function |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN110500470A CN110500470A (en) | 2019-11-26 |
| CN110500470B true CN110500470B (en) | 2023-12-26 |
Family
ID=68591708
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910864921.5A Active CN110500470B (en) | 2019-09-09 | 2019-09-09 | Pipeline crawling robot with relative position navigation function |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110500470B (en) |
Families Citing this family (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111412343B (en) * | 2020-04-23 | 2024-04-05 | 国网吉林省电力有限公司电力科学研究院 | Pipeline crawling robot |
| CN113824040B (en) * | 2020-06-23 | 2022-12-16 | 国网黑龙江省电力有限公司双鸭山供电公司 | Power pipeline power transmission line inspection device |
| CN112077870B (en) * | 2020-09-10 | 2022-09-23 | 厚力德机器（杭州）有限公司 | Flexible deformation pipeline transportation robot |
| CN112896354B (en) * | 2021-02-04 | 2022-04-12 | 上海电气集团股份有限公司 | Crawling robot and control method thereof |
| CN113223177B (en) * | 2021-05-12 | 2023-08-04 | 武汉中仪物联技术股份有限公司 | Pipeline three-dimensional model construction method and system based on standard attitude angle correction |
| CN113333405B (en) * | 2021-06-02 | 2022-09-09 | 新疆城建试验检测有限公司 | General type pipeline cleaning robot of complex environment |
| CN114348138A (en) * | 2022-01-22 | 2022-04-15 | 石家庄东方热电热力工程有限公司 | Wall-climbing robot navigation system and method for water-cooled wall scene |
| CN114484148B (en) * | 2022-02-15 | 2024-01-02 | 河海大学常州校区 | Underground pipeline detection robot detection system and detection method |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101147911A (en) * | 2007-10-23 | 2008-03-26 | 浙江大学 | Central air-conditioning pipe cleaning robot |
| CN102401213A (en) * | 2011-07-06 | 2012-04-04 | 北京邮电大学 | Flexible peristaltic pipeline robot with guide head and one-way traveling wheel structure |
| CN105697928A (en) * | 2016-04-14 | 2016-06-22 | 上海江南长兴重工有限责任公司 | Pipeline walking robot |
| CN105922260A (en) * | 2016-06-08 | 2016-09-07 | 江苏若博机器人科技有限公司 | Two-core two-axis crawler rapid natural gas pipeline robot control system |
| CN106313073A (en) * | 2016-10-12 | 2017-01-11 | 上海大学 | Pipeline crawling robot |
| CN207762434U (en) * | 2017-12-16 | 2018-08-24 | 北京极图科技有限公司 | Adaptive caliber pipe endoscopic climbing robot |
| CN109375158A (en) * | 2018-09-25 | 2019-02-22 | 北京工业大学 | Method for positioning mobile robot based on UGO Fusion |
Family Cites Families (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US7182025B2 (en) * | 2001-10-17 | 2007-02-27 | William Marsh Rice University | Autonomous robotic crawler for in-pipe inspection |
| CN211779670U (en) * | 2019-09-09 | 2020-10-27 | 浙江工业大学之江学院 | Pipeline crawling robot |
-
2019
- 2019-09-09 CN CN201910864921.5A patent/CN110500470B/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101147911A (en) * | 2007-10-23 | 2008-03-26 | 浙江大学 | Central air-conditioning pipe cleaning robot |
| CN102401213A (en) * | 2011-07-06 | 2012-04-04 | 北京邮电大学 | Flexible peristaltic pipeline robot with guide head and one-way traveling wheel structure |
| CN105697928A (en) * | 2016-04-14 | 2016-06-22 | 上海江南长兴重工有限责任公司 | Pipeline walking robot |
| CN105922260A (en) * | 2016-06-08 | 2016-09-07 | 江苏若博机器人科技有限公司 | Two-core two-axis crawler rapid natural gas pipeline robot control system |
| CN106313073A (en) * | 2016-10-12 | 2017-01-11 | 上海大学 | Pipeline crawling robot |
| CN207762434U (en) * | 2017-12-16 | 2018-08-24 | 北京极图科技有限公司 | Adaptive caliber pipe endoscopic climbing robot |
| CN109375158A (en) * | 2018-09-25 | 2019-02-22 | 北京工业大学 | Method for positioning mobile robot based on UGO Fusion |
Also Published As
| Publication number | Publication date |
|---|---|
| CN110500470A (en) | 2019-11-26 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN110500470B (en) | Pipeline crawling robot with relative position navigation function | |
| JP6904992B2 (en) | Natural pitch and roll | |
| JP6426725B2 (en) | System and method for tracking the location of a movable target object | |
| CN109648558B (en) | Robot curved surface motion positioning method and motion positioning system thereof | |
| US11633848B2 (en) | Independent pan of coaxial robotic arm and perception housing | |
| CN109960150B (en) | Track tracking control method for inspection robot | |
| CN207164583U (en) | Indoor following device based on Mecanum wheel | |
| US8127871B2 (en) | Frame walker predicated on a parallel mechanism | |
| JP2001199356A (en) | Omni-directional moving vehicle and method for controlling it | |
| JP6472854B1 (en) | Work equipment | |
| CN111745623B (en) | Five-degree-of-freedom hybrid robot tail end pose error detection and compensation system and method | |
| CN109866201B (en) | Binocular vision system, mobile grabbing robot and automatic goods taking method | |
| CN111015681A (en) | Communication machine room inspection robot system | |
| CN211779670U (en) | Pipeline crawling robot | |
| KR20140111162A (en) | Multi joint robot to drive rough terrain | |
| US10556630B1 (en) | Friction drive system and methods for use | |
| CN109318252A (en) | A kind of Three Degree Of Freedom wrist and its kinematic calculation method | |
| CN111571591B (en) | Four-eye bionic eye device, four-eye bionic eye device and target searching method thereof | |
| CN210452823U (en) | Intelligent mobile robot with two binocular vision systems | |
| CN106680889A (en) | Small-size metal detection vehicle | |
| CN206111183U (en) | Segment erector space gesture measuring device and shield construct machine with inertial sensor | |
| CN217515269U (en) | Robot telescopic foot and robot | |
| CN215576285U (en) | Navigation device and self-moving mowing equipment and hand-push type positioning equipment with same | |
| CN116624155A (en) | Device and method for measuring walking track of heading machine | |
| CN208025021U (en) | It is used in the pulley of arcwall face movement |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |