CN113028200A - Pipeline positioning robot based on laser ranging - Google Patents
Pipeline positioning robot based on laser ranging Download PDFInfo
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- CN113028200A CN113028200A CN202110272883.1A CN202110272883A CN113028200A CN 113028200 A CN113028200 A CN 113028200A CN 202110272883 A CN202110272883 A CN 202110272883A CN 113028200 A CN113028200 A CN 113028200A
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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
- 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
- F16L55/40—Constructional aspects of the body
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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
- F16L55/48—Indicating the position of the pig or mole in the pipe or conduit
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
- G01S17/06—Systems determining position data of a target
- G01S17/08—Systems determining position data of a target for measuring distance only
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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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- General Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- Electromagnetism (AREA)
- Computer Networks & Wireless Communication (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
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Abstract
The invention discloses a pipeline positioning robot based on laser ranging, which comprises a first robot and a second robot, wherein the first robot is connected with the second robot through a connecting rod; the head of the first robot is provided with a raspberry pie for controlling the first robot to move; the tail part is provided with a power supply for providing power; the tail part is also provided with a reflector for reflecting laser; the head of the second robot is provided with a gyroscope and three point laser distance sensors, and the gyroscope and the three point laser distance sensors are used for acquiring the angular velocity of the second robot and feeding back three distances between the first robot and the second robot; the tail part is provided with a power supply for providing power. The motion route of the robot can be obtained by analyzing the obtained angular velocity and the three distance values, so that the positioning of the pipeline is realized. The invention adopts a detection method based on laser ranging and double robots, and can effectively improve the precision and efficiency of pipeline positioning.
Description
Technical Field
The invention belongs to the field of robots, and relates to a supporting pipeline robot.
Background
With the rapid development of pipeline transportation, the urban underground pipeline transportation is also developing continuously. Unreasonable problems exist in pipeline management, and due to the influence of a plurality of factors such as selection of a detection method and instrument parameter setting in the pipeline detection process, existing underground pipeline data are too old to keep pace with the development of the current times, the situation that the precision of a pipeline detection result is not high or does not accord with the current situation often occurs, and the factors can cause misjudgment on the distribution situation of the underground pipelines. Aiming at the problems of the urban underground pipelines, the method has great significance for acquiring the accurate position information of the underground pipelines.
Disclosure of Invention
In order to solve the problems, the invention provides the pipeline positioning robot which is high in precision and detection efficiency and based on laser ranging.
The technical scheme of the invention is as follows:
a pipeline positioning robot based on laser ranging is characterized by comprising a first robot and a second robot.
The first robot moves in front of the second robot and comprises a first head and a first tail; the second robot moves behind the first robot and comprises a second head and a second tail.
The head first comprises a driving group I, a supporting group I, a control group I and a driven group I; the tail first comprises a driving group II, a supporting group II, a control group II and a driven group II.
The head part II comprises a driving group III, a supporting group III, a control group III and a driven group III; the tail part two comprises a driving group four, a supporting group four, a control group four and a driven group four.
The first head part and the second head part are different in cylinder part, a cylinder cover, a distance sensor and a gyroscope are added on the first head part, and the other parts are the same as the first head part; the first tail part and the second tail part are different in guide post part and are provided with light reflecting plates, and the rest parts are the same.
The second driving group in the first tail part comprises a direct current brushless motor, a staggered shaft bevel gear pair, an intermediate shaft, a bevel gear pair, a driving wheel shaft, a driving wheel clamping ring, a driving wheel fixing bush, a key and a driving wheel; the second support group comprises a cylinder, an acrylic plate, a cylinder rear end cover, an intermediate shaft fixing plate, a driving wheel carrier, a motor fixing plate and a motor supporting plate; the control group II comprises a power supply, a motor voltage reduction module and a motor driving module; the driven group II comprises a guide post, a slide block, a spring baffle, a first connecting rod, a second connecting rod, a driven wheel and a reflector.
The structure of the driving group III in the head part II is the same as that of the driving group II; a cylinder cover is added to the third support group, and the structures of other parts are the same except that the structure of the cylinder body part is different from that of the cylinder body in the second support group; the control group III comprises a raspberry pi, a raspberry pi voltage reduction module, a gyroscope, a motor voltage reduction module, a motor driving module and a distance sensor; the third driven group is not provided with a reflector, and the structure of other parts except the guide post is the same as that of the second driven group.
The driving wheel shaft penetrates through the driving wheel frame, the driving wheel clamping ring, the driving wheel and the driving wheel fixing bush, and the key is arranged in a key groove of the driving wheel shaft; the key slot is long enough, and one end of the key slot penetrates through the shaft end; the driving wheel fixing bush is fixed on the driving wheel shaft through a bolt and a nut and restrains the driving wheel together with the driving wheel clamping ring. The installation distance of the staggered shaft helical gear pair is equal to the distance from the axis of the intermediate shaft to the central plane of the driving wheel.
Openings are processed on two side faces of the driving wheel frame and used for penetrating through and fixing the middle shaft fixing plate; holes for restraining the intermediate shaft are processed on the intermediate shaft fixing plate and the cylinder body. Openings are processed on two sides of the cylinder body and used for penetrating and fixing the acrylic plates; and a control group is arranged above the acrylic plate.
The first control group and the second control group are combined to jointly control the first robot; and the third control group and the fourth control group are combined to jointly control the second robot. The distance sensor is a point laser distance sensor, the distance is far, the precision is high, three distance sensors are in an equilateral triangle shape and are fixed on the barrel cover and are respectively marked as 1, 2 and 3 distance sensors, the 1 distance sensor is positioned at the top angle of the triangle, and the 2 and 3 distance sensors are respectively positioned at two bottom angles.
The driven group II is in an umbrella shape; one side of the guide post is connected with the rear end cover of the cylinder body through a bolt and a nut, and the other side of the guide post penetrates through the sliding block, the spring and the spring baffle; the spring baffle is matched with the guide pillar through threads, threads are machined on the side edge of the spring baffle, and the spring baffle is fixed by screwing a bolt; the front side of the spring is provided with a sliding block, the rear side of the spring is provided with a spring baffle plate, and the spring baffle plate is in a compression state and can change the compression state along with the sliding of the sliding block.
The invention has the beneficial effects that: 1. according to the invention, the advancing route of the robot can be obtained by adopting laser ranging and adding a gyroscope and analyzing the obtained angular velocity and three distance values, so that the positioning of the pipeline is realized. 2. The driven group II is in an umbrella shape, so that the central axis of the robot is coincident with the central axis of the pipeline, and when the robot passes through the pipeline joint, the robot can be contracted, and the diameter change is realized. 3. According to the invention, the first and second robots are respectively divided into the head and the tail, so that the modular design is realized, and the robots are more flexible.
Drawings
Fig. 1 is a schematic view of the overall structure of the present invention.
FIG. 2 is a partial schematic view of a second driving set according to the present invention.
FIG. 3 is a schematic view of the driving axle and other parts of the driving set II of the present invention.
Fig. 4 is a schematic front view of a second driving set according to the present invention.
Fig. 5 is a partial schematic view of the first embodiment of the present invention.
FIG. 6 is a schematic view of a second support set according to the present invention.
Fig. 7 is a schematic view of the coupling part of the second support set of the present invention.
Fig. 8 is a schematic diagram of a second driven group according to the present invention.
FIG. 9 is a schematic view of the guide post of the first head and the second head of the present invention.
Fig. 10 is a schematic view of a second head according to the present invention.
FIG. 11 is a schematic view of the diameter change of the driven group according to the present invention.
In the figure: 1-a robot and 2-a robot; 11-head one, 12-tail one, 21-head two, 22-tail two; 121-drive group two, 122 support group two, 123-control group two, 124-slave group two; 1211-dc brushless motor, 1212-staggered shaft bevel gear pair, 1213-jackshaft, 1214-bevel gear pair, 1215-drive axle, 1216-drive wheel snap ring, 1217-drive wheel fixed bush, 1218-key, 1219-drive wheel; 1221-cylinder, 1222-acrylic plate, 1223-cylinder rear end cover, 1224-middle shaft fixing plate, 1225-driving wheel carrier, 1226-motor fixing plate, 1227-motor supporting plate; 1231-power supply, 1232-motor voltage reduction module, 1233-motor driving module; 1241-guide column, 1242-slide block, 1243-spring, 1244-spring baffle, 1245-connecting rod I, 1246-connecting rod II, 1247-driven wheel and 1248-reflector.
Detailed Description
The present invention will be described in detail below with reference to the accompanying drawings.
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
As shown in fig. 1, a pipeline positioning robot based on laser ranging includes a first robot (1) and a second robot (2); the first robot (1) comprises a first head part (11) and a first tail part (12); the second robot comprises a second head part (21) and a second tail part (22).
As shown in fig. 2, 3 and 4, the second driving set (121) comprises a dc brushless motor (1211), a staggered shaft bevel gear pair (1212), an intermediate shaft (1213), a bevel gear pair (1214), a driving wheel shaft (1215), a driving wheel snap ring (1216), a driving wheel fixing bush (1217), a key (1218) and a driving wheel (1219); the drive axle (1215) passes through the drive wheel carrier (1225), the drive wheel snap ring (1216), the drive wheel (1219), the drive wheel fixing bushing (1217), and the key (1218) is installed in the keyway of the drive axle (1215); the key slot is long enough, and one end of the key slot penetrates through the shaft end; the drive wheel securing bushing (1217) is secured to the drive wheel shaft (1215) by a bolt and nut and cooperates with the drive wheel snap ring (1216) to restrain the drive wheel (1219).
As shown in fig. 5, 6 and 7, the second support group (122) includes a cylinder (1221), an acrylic plate (1222), a cylinder rear end cover (1223), a middle shaft fixing plate (1224), a driving wheel carrier (1225), a motor fixing plate (1226), a motor supporting plate (1227), a coupler (12281), a coupler connecting column (12282) and a connecting column fixing plate (12283); two side surfaces of the driving wheel carrier (1225) are provided with openings for penetrating and fixing the middle shaft fixing plate (1224); holes for restraining the intermediate shaft (1213) are machined in the intermediate shaft fixing plate (1224) and the cylinder (1221). Openings are processed on two sides of the cylinder (1221) and used for penetrating and fixing the acrylic plate (1222); and a control group is arranged above the acrylic plate (1222).
As shown in fig. 5, the control group two (123) includes a power supply (1231), a motor voltage reduction module (1232), and a motor driving module (1233); the first control group (113) and the second control group (123) are combined to jointly control the first robot (1); and the third control group (213) and the fourth control group (223) are combined to jointly control the second robot (2).
As shown in fig. 8 and 9, the driven set two (124) includes a guide post (1241), a slider (1242), a spring (1243), a spring baffle (1244), a first connecting rod (1245), a second connecting rod (1246), a driven wheel (1247), and a reflector (1248). The tail end of the middle section of the guide post (1241) is provided with threads for fixing a spring baffle (1244) together with a bolt, and the tail section is provided with a short shaft for matching with a coupler (); the driven group III (214) does not have the light reflecting plate (1248), and the structure of other parts except the guide posts is the same as that of the driven group II (124).
As shown in fig. 10, the structure of the driving group three (211) in the head part two (21) is the same as that of the driving group two; a barrel cover (2128) is added to the third support group (212), and the structures of other parts are the same except that the barrel body part is different from that of the second support group; the control group III (213) comprises a raspberry pi (2131), a raspberry pi voltage reduction module (2132), a gyroscope (2133), a motor voltage reduction module (2134), a motor driving module (2135) and a distance sensor (2136); the driven group III (214) does not have the light reflecting plate (1248), and the structure of other parts except the guide posts is the same as that of the driven group II (124).
As shown in fig. 11, the driven group two (124) is in an umbrella shape; one side of the guide post (1241) is connected with the rear end cover (1223) of the cylinder body through a bolt and a nut, and the other side of the guide post passes through the slide block (1242), the spring (1243) and the spring baffle (1244); the spring baffle (1244) is matched with the guide pillar (1241) through threads, threads are processed on the side edge of the spring baffle, and the spring baffle is fixed by screwing a bolt; the front side of the spring (1243) is provided with a slide block (1242), the rear side is provided with a spring baffle (1244) and is in a compression state, and the compression state can be changed along with the slide block (1242) in a sliding way.
The working principle of the invention is as follows:
the pipeline is divided into three conditions of a straight pipeline, a curve and a slope:
a straight pipeline: the two robots move alternately and intermittently, the speed is constant when the two robots are in a moving state, and the two robots are at the inlet of the pipeline at first. Starting the next robot to advance for t time at a constant speed v, stopping the second robot, and recording the distance by using a distance sensor (2136); at time t, the first robot stops moving forward, the second robot follows at a constant speed v, and the distance sensor (2136) does not work. And adding the distances of each section to obtain the linear distance.
Bending: three distance sensors (2136) are fixed on a cylinder cover (1221) in an equilateral triangle shape, when a curve is in front of the robot, the distances obtained by the distance sensors 2 and 3 are respectively represented by x and y, when the numerical difference between the two is greater than 5mm and the difference is not a fixed value, the robot is considered to turn, and the distance recorded by the second robot is the distance between the second robot and the entrance of the curve. Then, when the second robot moves, the second robot inevitably turns, and at the moment, the gyroscope (2133) starts to work, records the angular speed and time during turning, and obtains the pipe turning angle, so as to obtain the distance at the entrance of the curve, the turning angle and the turning radius.
Slope: when the robot encounters a slope, the data of the sensor No. 1 and the sensor No. 2 generate a difference value, when the difference value is larger than 5mm and the difference value is a fixed value, the robot is considered to start to ascend and descend, and the slope angle is obtained according to the difference value and the height of an equilateral triangle.
The pipeline line distribution can be analyzed according to the obtained data.
The driven group is in an umbrella shape, so that the central axis of the robot is coincident with the central axis of the pipeline; when meeting pipeline junction, can realize reducing through compression spring.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents and improvements made within the spirit and principle of the present invention are intended to be included within the scope of the present invention.
Claims (8)
1. A pipeline positioning robot based on laser ranging is characterized by comprising a first robot (1) and a second robot (2);
the first robot (1) moves in front of the second robot (2) and comprises a first head part (11) and a first tail part (12); the second robot (2) moves behind the first robot (1) and comprises a second head part (21) and a second tail part (22).
The head (11) comprises a driving group I (111), a supporting group I (112), a control group I (113) and a driven group I (114); the tail portion I (12) comprises a driving group II (121), a supporting group II (122), a controlling group II (123) and a driven group II (124).
The head part II (21) comprises a driving group III (211), a supporting group III (212), a controlling group III (213) and a driven group III (214); the tail portion two (22) comprises a driving group four (221), a supporting group four (222), a controlling group four (223) and a driven group four (224).
2. The pipeline positioning robot based on the laser ranging as claimed in claim 1, wherein the first head (11) is different from the second head (21) in barrel part, the second head (21) is additionally provided with a barrel cover (1221), a distance sensor (2136) and a gyroscope (2133) relative to the first head (11), and other parts are the same as the first head (11); the first tail part (12) and the second tail part (22) are different in guide post part and are provided with a light reflecting plate (1248), and the rest parts are the same.
3. The pipe positioning robot based on the laser ranging as recited in claim 1, characterized in that the second driving set (121) in the first tail portion (12) comprises a direct current brushless motor (1211), a staggered shaft bevel gear pair (1212), an intermediate shaft (1213), a bevel gear pair (1214), a driving wheel shaft (1215), a driving wheel snap ring (1216), a driving wheel fixing bush (1217), a key (1218), and a driving wheel (1219); the second support group (122) comprises a cylinder (1221), an acrylic plate (1222), a cylinder rear end cover (1223), a middle shaft fixing plate (1224), a driving wheel carrier (1225), a motor fixing plate (1226), a motor supporting plate (1227), a coupler (12281), a coupler connecting column (12282) and a connecting column fixing plate (12283); the control group II (123) comprises a power supply (1231), a motor voltage reduction module (1232) and a motor driving module (1233); the driven group II (124) comprises a guide post (1241), a slide block (1242), a spring (1243), a spring baffle (1244), a connecting rod I (1245), a connecting rod II (1246), a driven wheel (1247) and a reflector (1248).
4. The laser ranging-based pipe positioning robot as claimed in claim 1, wherein a driving group three (211) in the head second (21) is identical in structure to a driving group two; a barrel cover (2128) is added to the third support group (212), and the structures of other parts are the same except that the barrel body part is different from that of the second support group; the control group III (213) comprises a raspberry pi (2131), a raspberry pi voltage reduction module (2132), a gyroscope (2133), a motor voltage reduction module (2134), a motor driving module (2135) and a distance sensor (2136); the driven group III (214) does not have the light reflecting plate (1248), and the structure of other parts except the guide posts is the same as that of the driven group II (124).
5. The laser ranging based pipe positioning robot as claimed in claim 1, characterized in that the driving wheel shaft (1215) passes through a driving wheel carrier (1225), a driving wheel snap ring (1216), a driving wheel (1219), a driving wheel fixing bush (1217), the key (1218) is installed in a key slot of the driving wheel shaft (1215); the key slot is long enough, and one end of the key slot penetrates through the shaft end; the drive wheel securing bushing (1217) is secured to the drive wheel shaft (1215) by a bolt and nut and cooperates with the drive wheel snap ring (1216) to restrain the drive wheel (1219). The installation distance of the staggered shaft bevel gear pair (1212) is equal to the distance from the axis of the intermediate shaft (1213) to the central plane of the driving wheel (1219).
6. The laser ranging-based pipe positioning robot as claimed in claim 1, wherein the driving wheel frame (1225) is machined with openings on both sides for passing and fixing the middle shaft fixing plate (1224); holes for restraining the intermediate shaft (1213) are machined in the intermediate shaft fixing plate (1224) and the cylinder (1221). Openings are processed on two sides of the cylinder (1221) and used for penetrating and fixing the acrylic plate (1222); and a control group is arranged above the acrylic plate (1222).
7. The pipeline positioning robot based on the laser ranging as claimed in claim 1, wherein the first control group (113) and the second control group (123) are combined to control the first robot (1); and the third control group (213) and the fourth control group (223) are combined to jointly control the second robot (2). The distance sensors (2136) are point laser distance sensors, the distance is long, the precision is high, the three distance sensors (2136) are fixed on the cylinder cover (1221) in an equilateral triangle shape and are respectively marked as distance sensors 1, 2 and 3, the distance sensor 1 is positioned at the top corner of the triangle, and the distance sensors 2 and 3 are respectively positioned at the two bottom corners.
8. The laser ranging-based pipe positioning robot as recited in claim 1, characterized in that the driven group two (124) is in the shape of an umbrella; one side of the guide post (1241) is connected with the rear end cover (1223) of the cylinder body through a bolt and a nut, and the other side of the guide post passes through the slide block (1242), the spring (1243) and the spring baffle (1244); the spring baffle (1244) is matched with the guide pillar (1241) through threads, threads are processed on the side edge of the spring baffle, and the spring baffle is fixed by screwing a bolt; the front side of the spring (1243) is provided with a slide block (1242), the rear side is provided with a spring baffle (1244) and is in a compression state, and the compression state can be changed along with the slide block (1242) in a sliding way.
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| CN108980511A (en) * | 2018-08-27 | 2018-12-11 | 大唐环境产业集团股份有限公司 | A kind of new pipeline robot |
| CN209399035U (en) * | 2018-12-25 | 2019-09-17 | 中北大学 | A kind of through ship drive-type tapered pipeline crusing robot |
| CN110043752A (en) * | 2019-04-29 | 2019-07-23 | 广东海洋大学 | A kind of flexible duct robot |
| CN110906108A (en) * | 2019-12-03 | 2020-03-24 | 响水县正响建设发展有限公司 | Running gear of defectoscope for circular pipeline |
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