CN113671976A - Motion positioning control method of three-foot support type pipeline robot - Google Patents
Motion positioning control method of three-foot support type pipeline robot Download PDFInfo
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- CN113671976A CN113671976A CN202110930014.3A CN202110930014A CN113671976A CN 113671976 A CN113671976 A CN 113671976A CN 202110930014 A CN202110930014 A CN 202110930014A CN 113671976 A CN113671976 A CN 113671976A
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- robot
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- pipeline robot
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- type pipeline
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- 238000000034 method Methods 0.000 title claims abstract description 20
- 230000003068 static effect Effects 0.000 claims abstract description 11
- 238000011217 control strategy Methods 0.000 abstract description 3
- 238000010586 diagram Methods 0.000 description 3
- 230000010355 oscillation Effects 0.000 description 2
- 230000004075 alteration Effects 0.000 description 1
- 238000005452 bending Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000009977 dual effect Effects 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
- 238000006467 substitution reaction Methods 0.000 description 1
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Classifications
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/08—Control of attitude, i.e. control of roll, pitch, or yaw
- G05D1/0891—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for land vehicles
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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
-
- 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
Abstract
The invention discloses a motion positioning control method of a three-foot support type pipeline robot, which comprises the following steps: the method comprises the following steps: starting a system; step two: acquiring attitude information; step three: establishing a static attitude model; step four: obtaining ranging information; step five: switching the control mode of the straight pipe or the bent pipe; step six: the motor operates; step seven: the current PID module operates; step eight: a segment control mode; step nine: the system is stopped; according to the invention, the posture information of the robot is formed after processing through the information feedback of the external sensing module, the positioning module and the motion module, and the optimal control strategy is adopted by the decision of the controller, so that the pipeline robot has certain autonomous recognition capability, the burden and misoperation risk of operators are reduced, and the posture of the robot is adjusted at any time according to the motion path, so that the robot can autonomously pass through a bend in a pipeline and operate in a straight pipe, a bent pipe and an obstacle.
Description
Technical Field
The invention belongs to the technical field of pipeline robots, and particularly relates to a motion positioning control method of a three-foot support type pipeline robot.
Background
Due to the complexity of the environment in which the pipeline is located and the industrial requirements, the pipeline is available in various forms, such as a pipeline with a certain slope, a reducing pipeline, a circular arc pipeline, a T-shaped pipeline and the like, and the precondition for the pipeline robot to operate in the special and space-limited environment is the trafficability in the special type of pipeline.
At present, in the design of a pipeline robot, due to insufficient consideration of restrictive factors such as curves and obstacles in pipes, the turning capacity and obstacle crossing capacity of a bent pipe of the robot are poor, attribute identification in the pipe is mainly limited to horizontal pipelines and vertical pipelines of typical levels, control strategies of the robot all need to be formulated by personnel or assisted by personnel, and misjudgment of pipeline identification can be avoided.
Disclosure of Invention
The present invention aims to provide a motion positioning control method for a three-legged support type pipeline robot, so as to solve the problems in the background art.
In order to achieve the purpose, the invention provides the following technical scheme: a motion positioning control method of a three-foot support type pipeline robot comprises the following steps:
the method comprises the following steps: starting a system;
step two: acquiring attitude information;
step three: establishing a static attitude model;
step four: obtaining ranging information;
step five: switching the control mode of the straight pipe or the bent pipe;
step six: the motor operates;
step seven: the current PID module operates;
step eight: a segment control mode;
step nine: the system is stopped.
As a preferred technical solution of the present invention, in the second step, a pipeline and robot coordinate system is established; the axis line of the pipeline is taken as an X axis and points to the moving direction of the robot; and a right-hand coordinate system XYZO taking the intersection line of the main plane of the pipeline and the main section of the pipeline as a Y axis is taken as a static coordinate system, the origin O is on the central axis of the pipeline, and the Z axis is determined by a right-hand rule.
As a preferred technical solution of the present invention, in the third step, the oscillation angle α is defined as an included angle between the advancing direction of the pipeline robot and the XOZ plane; defining a pitch angle beta as an included angle between the advancing direction of the pipeline robot and an XOY plane; defining an attitude angle gamma as an included angle between one foot of the pipeline robot and the Z axis, and selecting the minimum one of the three feet and the Z axis as long as selecting the minimum one of the three feet as positive and negative clockwise because the three feet support type pipeline robot has one repetition every 120 degrees; and establishing a thermal static attitude model of the pipeline machine according to the swing angle alpha, the pitch angle beta and the attitude angle gamma.
As a preferable aspect of the present invention, in the fourth step, it is determined whether there is a curve in front of the robot based on the information of the distance measuring sensor.
In a preferred embodiment of the present invention, in the fifth step, the straight pipe and bent pipe control program is switched according to the result of the fourth step.
In the seventh step, the PID adjusts the motor speed in real time according to the current fed back by the driver.
As a preferable aspect of the present invention, in the eighth step, the segment control mode is controlled for the attitude information.
Compared with the prior art, the invention has the beneficial effects that:
according to the invention, the posture information of the robot is formed after processing through the information feedback of the external sensing module, the positioning module and the motion module, and the optimal control strategy is adopted by the decision of the controller, so that the pipeline robot has certain autonomous recognition capability, the burden and misoperation risk of operators are reduced, and the posture of the robot is adjusted at any time according to the motion path, so that the robot can autonomously pass through a bend in a pipeline and operate in a straight pipe, a bent pipe and an obstacle.
Drawings
FIG. 1 is a block diagram of a dual closed loop control in the present invention;
FIG. 2 is a block diagram of a control flow in the present invention;
FIG. 3 is a schematic diagram of the coordinates of the pipeline and the robot in the present invention;
fig. 4 is a schematic view of the robot inner attitude angle in the invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1 to 4, the present invention provides a technical solution: a motion positioning control method of a three-foot support type pipeline robot comprises the following steps:
the method comprises the following steps: starting a system;
step two: acquiring attitude information;
step three: establishing a static attitude model;
step four: obtaining ranging information;
step five: switching the control mode of the straight pipe or the bent pipe;
step six: the motor operates;
step seven: the current PID module operates;
step eight: a segment control mode;
step nine: the system is stopped.
In this embodiment, a pipeline and robot coordinate system is established in the second step; the axis line of the pipeline is taken as an X axis and points to the moving direction of the robot; and a right-hand coordinate system XYZO taking the intersection line of the main plane of the pipeline and the main section of the pipeline as a Y axis is taken as a static coordinate system, the origin O is on the central axis of the pipeline, and the Z axis is determined by a right-hand rule.
In the third step, the swing angle α is defined as an included angle between the advancing direction of the pipeline robot and the XOZ plane; defining a pitch angle beta as an included angle between the advancing direction of the pipeline robot and an XOY plane; defining an attitude angle gamma as an included angle between one foot of the pipeline robot and the Z axis, and specifically referring to FIG. 4, because every 120 degrees on the three-foot support type pipeline robot structure is a repetition, only the minimum one of the three feet and the Z axis needs to be selected, and the anticlockwise direction is positive, and the clockwise direction is negative; and establishing a thermal static attitude model of the pipeline machine according to the swing angle alpha, the pitch angle beta and the attitude angle gamma.
In this embodiment, in the fourth step, whether there is a curve in front of the robot is determined according to the information of the distance measuring sensor.
In this embodiment, in the fifth step, the straight pipe and bent pipe control programs are switched according to the result of the fourth step;
when the straight pipe control program is switched to, the three motors run at the same speed, namely the reference speed, and the specific formula is VA:VB:VC＝1:1:1。
After the pipe bending control program is switched, the three motors carry out coordinated control of conveying speed, and only the speed of the 3-foot driving motor is controlled to meet the motion speed coordination model, wherein the specific formula is VA:VB:VCR + cos (γ -120 °), R-0.5Dcos (γ +120 °), R-0.5Dcos γ; wherein D is the diameter of the pipeline, gamma is the attitude angle, and R is the curvature radius of the center of the curve.
In this embodiment, in the seventh step, the PID adjusts the speed of the motor in real time according to the current fed back by the driver, and the control mode is divided into the following two control modes:
when the actual current is closer to the reference current, an integral link is introduced, PID control is adopted, the integral function is played, the static error is eliminated, the control precision is ensured, and the oscillation is avoided;
and secondly, when the deviation between the actual current and the reference current is large, removing the integral, and adopting PI control to avoid the generation of integral saturation effect and generate large overshoot.
In this embodiment, in the step eight, the segment control mode is controlled according to the attitude information, and is divided into the following three modes:
when the swing angle alpha is less than or equal to minus 30 degrees or alpha is greater than or equal to 30 degrees, the motor rotates left and right at a slow speed; when the pitch angle beta is less than or equal to minus 30 degrees or beta is greater than or equal to 30 degrees, the motor rotates up and down at a low speed, and the PID parameters are adjusted at a low speed;
II, when the swing angle alpha is more than or equal to minus 30 degrees and less than or equal to minus 15 degrees or more than or equal to 15 degrees and less than or equal to 30 degrees, the motor rotates left and right at a medium speed; when the pitch angle is more than or equal to minus 30 degrees and less than or equal to minus 15 degrees or more than or equal to 15 degrees and less than or equal to 30 degrees, the motor rotates up and down at a medium speed, and the medium-speed PID parameters are adjusted;
III, when the swing angle alpha is more than or equal to minus 15 degrees and less than or equal to 15 degrees, the motor rotates left and right at a high speed; when the pitch angle is larger than or equal to minus 15 degrees and smaller than or equal to 15 degrees, the motor rotates up and down at a high speed, and the PID parameters are called and rapidly adjusted.
A control method for the motion positioning of a pipeline robot is finally the control of a motor driving system, in order to realize the requirement of quick and accurate control of a motor, the control system adopts a posture and current negative feedback double closed loop system and is provided with current loop (inner loop) control and posture loop (outer loop) control, as shown in figure 1, the current loop is set by the internal parameters of a driver, the function is to improve the response speed of the system, and the posture loop is completed by a PLC control algorithm.
Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (7)
1. A motion positioning control method of a three-foot support type pipeline robot is characterized by comprising the following steps: the method comprises the following steps:
the method comprises the following steps: starting a system;
step two: acquiring attitude information;
step three: establishing a static attitude model;
step four: obtaining ranging information;
step five: switching the control mode of the straight pipe or the bent pipe;
step six: the motor operates;
step seven: the current PID module operates;
step eight: a segment control mode;
step nine: the system is stopped.
2. The method of controlling the movement positioning of a three-legged support-type pipeline robot according to claim 1, wherein: establishing a pipeline and robot coordinate system in the second step; the axis line of the pipeline is taken as an X axis and points to the moving direction of the robot; and a right-hand coordinate system XYZO taking the intersection line of the main plane of the pipeline and the main section of the pipeline as a Y axis is taken as a static coordinate system, the origin O is on the central axis of the pipeline, and the Z axis is determined by a right-hand rule.
3. The method of controlling the movement positioning of a three-legged support-type pipeline robot according to claim 1, wherein: in the third step, defining a swinging angle alpha as an included angle between the advancing direction of the pipeline robot and an XOZ plane; defining a pitch angle beta as an included angle between the advancing direction of the pipeline robot and an XOY plane; defining an attitude angle gamma as an included angle between one foot of the pipeline robot and the Z axis, and selecting the minimum one of the three feet and the Z axis as long as selecting the minimum one of the three feet as positive and negative clockwise because the three feet support type pipeline robot has one repetition every 120 degrees; and establishing a thermal static attitude model of the pipeline machine according to the swing angle alpha, the pitch angle beta and the attitude angle gamma.
4. The method of controlling the movement positioning of a three-legged support-type pipeline robot according to claim 1, wherein: and in the fourth step, judging whether a curve exists in front of the robot or not according to the information of the distance measuring sensor.
5. The method of controlling the movement positioning of a three-legged support-type pipeline robot according to claim 1, wherein: and in the fifth step, switching the straight pipe and bent pipe control programs according to the result of the fourth step.
6. The method of controlling the movement positioning of a three-legged support-type pipeline robot according to claim 1, wherein: in the seventh step, the PID adjusts the motor speed in real time according to the current fed back by the driver.
7. The method of controlling the movement positioning of a three-legged support-type pipeline robot according to claim 1, wherein: in the step eight, the segment control mode is controlled for the attitude information.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202110930014.3A CN113671976B (en) | 2021-08-13 | 2021-08-13 | Motion positioning control method of three-foot support type pipeline robot |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202110930014.3A CN113671976B (en) | 2021-08-13 | 2021-08-13 | Motion positioning control method of three-foot support type pipeline robot |
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| CN113671976A true CN113671976A (en) | 2021-11-19 |
| CN113671976B CN113671976B (en) | 2023-12-08 |
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Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105676867A (en) * | 2016-04-21 | 2016-06-15 | 南京工程学院 | ROV underwater robot suspension attitude stabilization control method |
| CN106444803A (en) * | 2016-09-14 | 2017-02-22 | 江苏师范大学 | UAV (Unmanned Aerial Vehicle) navigation system and method used for positioning of pipeline robot |
| CN108089589A (en) * | 2017-11-24 | 2018-05-29 | 江苏科技大学 | A kind of underwater robot attitude control method |
| 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 |
| CN110454642A (en) * | 2019-08-01 | 2019-11-15 | 山东大学 | A kind of control method of detecting robot of pipe |
| CN110701428A (en) * | 2019-10-12 | 2020-01-17 | 山东大学 | Built-in current closed-loop motor driver for pipeline detection robot |
| CN111251303A (en) * | 2020-03-11 | 2020-06-09 | 北京理工大学 | Robot motion control method for periodic attitude adjustment |
-
2021
- 2021-08-13 CN CN202110930014.3A patent/CN113671976B/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105676867A (en) * | 2016-04-21 | 2016-06-15 | 南京工程学院 | ROV underwater robot suspension attitude stabilization control method |
| CN106444803A (en) * | 2016-09-14 | 2017-02-22 | 江苏师范大学 | UAV (Unmanned Aerial Vehicle) navigation system and method used for positioning of pipeline robot |
| CN108089589A (en) * | 2017-11-24 | 2018-05-29 | 江苏科技大学 | A kind of underwater robot attitude control method |
| 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 |
| CN110454642A (en) * | 2019-08-01 | 2019-11-15 | 山东大学 | A kind of control method of detecting robot of pipe |
| CN110701428A (en) * | 2019-10-12 | 2020-01-17 | 山东大学 | Built-in current closed-loop motor driver for pipeline detection robot |
| CN111251303A (en) * | 2020-03-11 | 2020-06-09 | 北京理工大学 | Robot motion control method for periodic attitude adjustment |
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