CN114198595A - Control system, method, device, electronic device, and medium for pipeline robot - Google Patents

Control system, method, device, electronic device, and medium for pipeline robot Download PDF

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Publication number
CN114198595A
CN114198595A CN202111314904.8A CN202111314904A CN114198595A CN 114198595 A CN114198595 A CN 114198595A CN 202111314904 A CN202111314904 A CN 202111314904A CN 114198595 A CN114198595 A CN 114198595A
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China
Prior art keywords
pipeline robot
current
pressure
control
speed difference
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CN202111314904.8A
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Chinese (zh)
Inventor
喻九阳
夏文凤
戴耀南
胡天豪
张德安
詹博文
程航
严艺飞
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Wuhan Jehoo High Technology Co ltd
Wuhan Institute of Technology
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Wuhan Jehoo High Technology Co ltd
Wuhan Institute of Technology
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Priority to CN202111314904.8A priority Critical patent/CN114198595A/en
Publication of CN114198595A publication Critical patent/CN114198595A/en
Pending legal-status Critical Current

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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
    • F16L55/28—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
    • 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
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F13/00—Interconnection of, or transfer of information or other signals between, memories, input/output devices or central processing units
    • G06F13/38—Information transfer, e.g. on bus
    • G06F13/42—Bus transfer protocol, e.g. handshake; Synchronisation
    • G06F13/4282—Bus transfer protocol, e.g. handshake; Synchronisation on a serial bus, e.g. I2C bus, SPI bus
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04B—TRANSMISSION
    • H04B3/00—Line transmission systems
    • H04B3/02—Details
    • 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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  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Mechanical Engineering (AREA)
  • Theoretical Computer Science (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Signal Processing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Manipulator (AREA)

Abstract

The invention relates to a control system, a method, a device, an electronic device and a medium of a pipeline robot, wherein the control system comprises: the system comprises a processor and a master control driving circuit which are arranged in the pipeline robot, and a pose sensor and a pressure sensor which are arranged on the pipeline robot; the master control driving circuit, the pose sensor and the pressure sensor are respectively connected with the processor; and the processor is used for acquiring the current pose information and the current pressure, determining the speed difference between the two driving wheels according to the current pose information and the current pressure, and respectively adjusting the current pose of the pipeline robot and the current pressure of the two driving wheels through the main control driving circuit according to the speed difference. The control system can simultaneously realize the control of the pose of the pipeline robot in the pipeline and the pressure of the driving wheel based on the speed difference determined by the current pose information and the current pressure, and can improve the control precision.

Description

Control system, method, device, electronic device, and medium for pipeline robot
Technical Field
The present invention relates to the field of automatic control, and in particular, to a system, a method, an apparatus, an electronic device, and a medium for controlling a pipeline robot.
Background
In recent years, robots are widely applied to the field of pipeline detection, an existing control mode is generally a single control mode, that is, one parameter of the robot is controlled at a time, for a straight pipeline, the robot is generally controlled to advance in the pipeline through the single control mode, so that the requirement that the robot smoothly completes work can be met, but for a pipeline with a relatively complex structure, for example, a pipeline including corners and an up-down slope, a control system with higher control precision is required to meet the normal work of the robot in the complex pipeline, and therefore, the problem in the prior art is how to provide a control system with better control precision to control the motion of the pipeline robot in the pipeline is a technical problem to be solved urgently at present.
Disclosure of Invention
The invention aims to provide a control system, a control method, a control device, electronic equipment and a control medium of a pipeline robot, and aims to solve the problem of improving the control precision of the pipeline robot.
The technical scheme for solving the technical problems is as follows: a control system of a pipeline robot, the control system comprising:
the system comprises a processor and a master control driving circuit which are arranged in the pipeline robot, and a pose sensor and a pressure sensor which are arranged on the pipeline robot;
the main control driving circuit, the pose sensor and the pressure sensor are respectively connected with the processor;
the pose sensor is used for acquiring the current pose information of the pipeline robot;
the pressure sensor is used for acquiring the current pressures of the two driving wheels of the pipeline robot;
the processor is used for acquiring current pose information and current pressure, determining a speed difference between the two driving wheels according to the current pose information and the current pressure, and respectively adjusting the current pose of the pipeline robot and the current pressure of the two driving wheels through the main control driving circuit according to the speed difference.
The invention has the beneficial effects that: the pipeline with a negative miscellaneous structure can simultaneously control the pose of the pipeline robot in the pipeline and the pressure of the driving wheels through the control system, the timeliness of the control system is improved on the premise of ensuring that the pipeline robot smoothly walks in the pipeline, and the adjustment of the pose and the pressure of the driving wheels is carried out on the basis of the two parameters of the current pose information and the current pressure no matter the adjustment of the pose and the pressure, thereby, the control accuracy can be improved.
On the basis of the technical scheme, the invention can be further improved as follows.
Furthermore, the control system also comprises a voltage divider arranged in the content of the pipeline robot, and the voltage divider is respectively connected with the processor and the master control drive circuit;
the above voltage divider for controlling the voltage distributed to each of the two drive wheels;
the processor further comprises the following steps in the adjusting process of adjusting the current pressures of the two driving wheels through the main control driving circuit according to the speed difference:
the voltage distributed to each of the two drive wheels is controlled by a voltage divider according to the speed difference, and for each drive wheel, the current pressure of the drive wheel is adjusted by a master drive circuit according to the voltage of the drive wheel.
The voltage divider can control the voltage distributed to each driving wheel in the two driving wheels, the current pressure of the driving wheels can be adjusted based on the change of the pressure of the driving wheels for each driving wheel, the control process is simple by adjusting the pressure corresponding to the driving wheels, and the control effect is more stable. On the other hand, when pressure is adjusted, the two driving wheels can be adjusted through the voltage divider respectively, more complex scenes can be met, and control accuracy is further improved.
Further, the posture sensor is arranged on a driving wheel of the pipeline robot;
the control system also comprises a direct current brushless speed reducing motor, and the direct current brushless speed reducing motor is connected with the pose sensor;
the direct current brushless speed reducing motor is used for providing power for the motion of the pipeline robot.
The pipeline robot has the advantages that the pose sensor is arranged on the driving wheel of the pipeline robot, namely the pose sensor is arranged on the lower portion of the pipeline robot, only the lower portion of the pipeline robot is adjusted to move during adjustment, the upper portion of the pipeline robot is not adjusted, the control quantity is reduced, the stability of robot movement is improved, and the motion control of the robot is facilitated. The direct-current brushless speed reducing motor is adopted to provide power for the pipeline air person, and the direct-current brushless speed reducing motor replaces a mechanical transmission mechanism such as a screw, so that the direct-current brushless speed reducing motor is quick in response and high in precision, and the energy loss can be reduced.
Furthermore, the control system also comprises a control console, wherein the control console is connected with the processor and is arranged outside the pipeline robot;
the control console is used for acquiring a control instruction of a user on the pipeline robot;
the processor is further used for acquiring a control instruction and sending the control instruction to the master control driving circuit so as to control the motion of the pipeline robot according to the control instruction;
the control system also comprises a synchronous positioning and mapping module, the synchronous positioning and mapping module is arranged on the pipeline robot, and the synchronous positioning and mapping module is connected with the processor;
the synchronous positioning and mapping module is used for acquiring the position information of the pipeline robot;
the processor is further configured to obtain the position information and control the motion of the pipeline robot according to the position information.
The beneficial effect who adopts above-mentioned further scheme is that, under some scenes, pipeline robot not only can be based on the motion of self information automatic control in the pipeline, can also realize the manual control to pipeline robot through the control cabinet based on user's control command to guarantee pipeline robot's smooth work. The control system also comprises a synchronous positioning and mapping module, and the pipeline robot can automatically control the motion of the pipeline robot in the pipeline through the position information collected by the module by the processor so as to ensure that the pipeline robot runs smoothly in the pipeline.
Further, the control system further comprises a wired interface, the wired interface is connected with the main control driving circuit, and the wired interface comprises at least one of a Universal Serial Bus (USB) interface, a secure digital card (SD) interface or an asynchronous transmission standard (RS-232) interface.
Adopt above-mentioned further scheme's beneficial effect to be, still set up wired interface on control system, the pipeline robot can communicate with external equipment through wired interface to satisfy different communication demands. And, under the condition that does not have the network, can communicate through the wired communication mode, guarantee the normal work of pipeline robot. The wired interfaces can be different types of wired interfaces to meet the requirements for different types of wired interfaces, so that equipment with different interface types can communicate with the pipeline robot. And, under the condition that there is no network, also can guarantee the normal communication between external equipment and the pipeline machine.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings used in the description of the embodiments of the present invention will be briefly described below.
Fig. 1 is a schematic structural diagram of a control system of a pipeline robot according to an embodiment of the present invention;
FIG. 2 is a schematic flow chart illustrating a fuzzy control algorithm based speed difference determination according to an embodiment of the present invention;
FIG. 3 is a schematic structural diagram of a control system of a pipeline robot according to another embodiment of the present invention
Fig. 4 is a schematic flowchart of a control method of a pipeline robot according to an embodiment of the present invention;
fig. 5 is a schematic structural diagram of a control apparatus of a pipeline robot according to an embodiment of the present invention;
fig. 6 is a schematic structural diagram of an electronic device according to an embodiment of the present invention.
In the drawings, the components represented by the respective reference numerals are listed below:
1. the system comprises processors 1 and 2, a main control driving circuit 3, a pose sensor 4 and a pressure sensor.
Detailed Description
The principles and features of this invention are described below in conjunction with examples which are set forth to illustrate, but are not to be construed to limit the scope of the invention.
The technical solution of the present invention and how to solve the above technical problems will be described in detail with specific embodiments below. The following several specific embodiments may be combined with each other, and details of the same or similar concepts or processes may not be repeated in some embodiments. Embodiments of the present invention will be described below with reference to the accompanying drawings.
An embodiment of the present invention provides a possible implementation manner, as shown in fig. 1, a schematic structural diagram of a control system of a pipeline robot is provided, as shown in the schematic structural diagram of fig. 1, the control system may include:
the system comprises a processor 1 arranged in the pipeline robot, a main control driving circuit 2, a pose sensor 3 and a pressure sensor 4, wherein the pose sensor 3 and the pressure sensor are arranged on the pipeline robot;
the main control driving circuit 2, the pose sensor 3 and the pressure sensor 4 are respectively connected with the processor 1;
the pose sensor 3 is used for acquiring the current pose information of the pipeline robot;
the pressure sensor 4 is configured to obtain current pressures of two driving wheels of the pipeline robot;
the processor 1 is configured to obtain current pose information and current pressure, determine a speed difference between the two driving wheels according to the current pose information and the current pressure, and adjust the current pose of the pipeline robot and the current pressure of the two driving wheels through the main control driving circuit 2 according to the speed difference.
The invention has the beneficial effects that: acquiring current pose information of the pipeline robot based on a pose sensor 3 provided on the pipeline robot, acquiring current pressures of two driving wheels of the pipeline robot based on a pressure sensor 4 provided on the pipeline robot, determining a speed difference between the two driving wheels according to the two parameters by a processor 1, the pose change of the pipeline robot and the pressure change of the driving wheels are reflected by the speed difference, so that the pose of the pipeline robot and the pressure of the driving wheels can be adjusted according to the speed difference, for the pipeline with the negative miscellaneous structure, the control system can simultaneously control the pose of the pipeline robot in the pipeline and the pressure of the driving wheels, thereby improving the timeliness of the control system, in addition, no matter the pose or pressure is adjusted, the pose and pressure are adjusted based on the current pose information and the current pressure, so that the control precision and stability can be improved.
The following further describes the solution of the present invention with reference to the following specific embodiment, in which the control system may include:
the system comprises a processor 1 arranged in the pipeline robot, a main control driving circuit 2, a pose sensor 3 and a pressure sensor 4, wherein the pose sensor 3 and the pressure sensor are arranged on the pipeline robot;
the main control driving circuit 2, the pose sensor 3 and the pressure sensor 4 are respectively connected with the processor 1;
the pose sensor 3 is used for acquiring the current pose information of the pipeline robot;
the pressure sensor 4 is configured to obtain current pressures of two driving wheels of the pipeline robot;
the processor 1 is configured to obtain current pose information and current pressure, determine a speed difference between the two driving wheels according to the current pose information and the current pressure, and adjust the current pose of the pipeline robot and the current pressure of the two driving wheels through the main control driving circuit 2 according to the speed difference.
Wherein, above-mentioned master control drive circuit 2 indicates the circuit of each position motion of control pipeline robot, and different positions can correspond different control circuit, for example, the control circuit of control pipeline robot arm motion, the control circuit of control pipeline robot drive wheel motion etc. different parameters also can correspond different control circuit, for example, the control circuit of control voltage, the control circuit of control moment etc..
The pose of the pipeline robot refers to the pose of the pipeline robot in the motion process of the pipeline, and is generally relative to the pipeline. Alternatively, the pose information may be an inclination angle between the pipeline robot and the pipeline axis, and the optimal pose of the pipeline robot is that the traveling direction of the pipeline robot coincides with the pipeline axis, that is, the inclination angle is 0 degree.
Alternatively, the current pressure may be an average value of pressures collected over a period of time.
The driving wheel can be any one of a crawler wheel, a wheel and a walking wheel, namely, the control system can be suitable for pipeline robots with different operation structures. The pipeline robot can be an industrial robot or a special robot, and the control system can be applied to the industrial or other fields.
The speed difference between the two driving wheels determined according to the current pose information and the current pressure can be determined based on a fuzzy control method, which is specifically described in detail below, and the fuzzy control method has the characteristic of nonlinearity, so that layered control over the pose and the pressure can be realized through the fuzzy control method, that is, the pose and the pressure can be controlled respectively based on two parameters of the pose information and the pressure, and compared with a single control mode (a pose control mode based on pose information or a pressure control mode based on pressure control pressure), more control requirements can be met, and the control precision is higher. Alternatively, the pose sensor 3 may be an IMU (Inertial Measurement Unit) sensor.
Optionally, the processor 1 may be a single chip microcomputer, such as an STC (Sensitivity Time Control) single chip microcomputer, an AVR single chip microcomputer, or the like. The present invention is not limited to the specific form of the processor 1.
How the processor 1 adjusts the current pose of the pipeline robot and the current pressures of the two driving wheels respectively through the main control driving circuit 2 based on the speed difference will be described in detail below, and details are not repeated here.
The processor 1 and the main control drive circuit 2 may be provided on a control board through which data communication is performed. Optionally, the whole part of control panel can all be deposited in aluminium system box, prevents the interference of external signal to internal circuit, and the kneck adopts the cooperation mode of spiral, prevents because the circuit that long-time motion leads to is not hard up.
In an alternative of the present invention, the control system further includes a voltage divider disposed in the pipeline robot, and the voltage divider is respectively connected to the processor 1 and the main control driving circuit 2;
the above voltage divider for controlling the voltage distributed to each of the two drive wheels;
the processor 1 further includes, in an adjustment process of adjusting the current pressures of the two driving wheels through the main control driving circuit 2 according to the speed difference:
the voltage distributed to each of the two drive wheels is controlled by a voltage divider according to the speed difference, and for each drive wheel the current pressure of the drive wheel is adjusted by the master drive circuit 2 according to the voltage of the drive wheel.
The voltage divider can control the voltage distributed to each driving wheel of the two driving wheels, the current pressure of the driving wheels can be adjusted for each driving wheel based on the change of the pressure of the driving wheel, the control process is simple by adjusting the pressure corresponding to the driving wheels, and the control effect is more stable. And the current pressure of each driving wheel can be adjusted by adopting the voltage divider, so that the adjusting effect is better.
Optionally, the voltage divider may be a voltage divider.
The specific implementation process of the processor 1 controlling the voltage distributed to each of the two driving wheels through the voltage divider according to the speed difference and adjusting the current pressure of the driving wheel through the main control driving circuit 2 according to the voltage of the driving wheel for each driving wheel will be described in detail below, and will not be described herein again.
In an alternative aspect of the present invention, the above-described attitude sensor 3 and pressure sensor 4 are provided on the drive wheels of the pipeline robot.
Wherein, position appearance sensor 3 sets up on pipeline robot's drive wheel, sets up in pipeline robot's lower part promptly, also only adjusts pipeline robot's lower part motion when adjusting, does not adjust pipeline robot's upper portion, when having reduced control quantity, has improved the stability of robot motion to be favorable to the motion control to the robot.
The number of the pose sensors 3 is not limited in the scheme of the present invention, and may be one or more, and if there are a plurality of pose sensors 3, fusion processing (for example, averaging and using the processed pose information as the current pose information) may be performed based on the pose information detected by the plurality of pose sensors 3.
In an alternative aspect of the present invention, the control system further includes a console, the console is connected to the processor 1, and the console is disposed outside the pipeline robot;
the control console is used for acquiring a control instruction of a user on the pipeline robot;
the processor 1 is further configured to obtain a control instruction, and send the control instruction to the main control driving circuit 2, so as to control the motion of the pipeline robot according to the control instruction.
Under some scenes, the pipeline robot can not only automatically control the motion in the pipeline based on the information of the pipeline robot, but also realize manual control on the pipeline robot based on the control instruction of a user through a control console, thereby ensuring the smooth work of the pipeline robot. Under normal operating condition, the communication mode of control cabinet and pipeline robot is wireless communication mode, and optional, can adopt loRa (Long Range) technique to carry out wireless communication, and the loRa technique has the characteristics that the energy consumption is low, wide coverage, the penetrability is strong, stability is high, and the application is carried out wireless communication and is improved the communication stability between pipeline robot and the control cabinet to this loRa technique, and can realize the remote communication between control cabinet and the pipeline robot.
In an alternative of the present invention, the control system further includes a dc brushless geared motor, which is connected to the pose sensor 3;
the direct current brushless speed reducing motor is used for providing power for the motion of the pipeline robot.
Adopt brushless gear motor of direct current to provide power for pipeline gas man, compare in other machinery class transmission, can be so that simple structure. And because the direct current brushless speed reducing motor replaces a mechanical transmission mechanism such as a screw, the direct current brushless speed reducing motor has the advantages of quick response, high precision and capability of reducing energy loss. Optionally, the dc brushless speed reduction motor may be any one of an M3508 motor and an M2006 motor.
In an alternative of the present invention, the control system further includes a wired interface, and the wired interface is connected to the main control driving circuit 2.
Still set up wired interface on control system, pipeline robot can communicate with external equipment through wired interface to satisfy different communication demands. If the main control drive circuit 2 and the processor 1 are provided on a control board, a wired interface may also be provided on the control board, through which communication between the wired interface and the main control drive circuit 2 and the processor 1 is achieved.
In an alternative aspect of the present invention, the wired interface includes at least one of a universal Serial bus (usb) (universal Serial bus) interface, a secure Digital card (sd) (secure Digital Memory card) interface, or an asynchronous transfer standard RS-232(EIARS-232-C) Serial interface.
The wired interfaces can be different types of wired interfaces to meet the requirements for different types of wired interfaces, so that equipment with different interface types can communicate with the pipeline robot. And, under the condition that there is no network, also can guarantee the normal communication between external equipment and the pipeline machine.
In an alternative aspect of the present invention, the power supply interface of the above described pipeline robot is an XT30 interface.
The XT30 interface is an interface conforming to the power interface standard, and the normal power supply requirement of the pipeline robot can be met through the interface.
Optionally, the master driving circuit 2 is further provided with an I/O bus, and the I/O bus can be used to transmit data and control signals specified by the I/O path technology.
In an alternative of the present invention, the control system further comprises a synchronous positioning and mapping module, the synchronous positioning and mapping module is disposed on the pipeline robot, and the synchronous positioning and mapping module is connected to the processor 1;
the synchronous positioning and mapping module is used for acquiring the position information of the pipeline robot;
the processor 1 is further configured to obtain the position information, and control the motion of the pipeline robot according to the position information.
The control system further comprises a synchronous positioning and Mapping module, which can also be called as a SLAM (Simultaneous positioning and Mapping) pipeline robot, and the processor 1 can automatically control the motion of the pipeline robot in the pipeline through the position information acquired by the module. The synchronous positioning and mapping module can acquire images through image acquisition equipment arranged on the pipeline robot, and the pipeline robot is determined to be position information based on the acquired images. The image acquisition equipment can be a camera, for example, a binocular camera.
Based on the foregoing description, the above-mentioned determination of the speed difference between the two driving wheels according to the current pose information and the current pressure may be based on a fuzzy control method, the principle of which (also referred to as a fuzzy rule) is:
If F＝A and EF＝B then U＝C
the fuzzy rule has the characteristic of nonlinearity, and when F or EF approaches zero, the change of the curved surface is large; when F or EF leaves zero, the change of the curved surface is small, namely when the error approaches to 0, more corresponding rules need to be set, and the control precision can be ensured; when the error is far from 0, the corresponding rule to be set is relatively small, and the sensitivity of the control can be ensured.
Referring to the schematic flow chart of the speed difference determination by the fuzzy control method shown in fig. 2, in an alternative aspect of the present invention, one way of determining the speed difference between two driving wheels by the fuzzy control method according to the current pose information and the current pressure is: acquiring a maximum inclination angle θ max of the pipeline robot by the pose sensor 3 (corresponding to the inclination angle detection shown in fig. 2); the maximum pressure Fmax of the pipe robot (corresponding to the maximum positive pressure detection shown in fig. 2) is acquired by the pressure sensor 4, wherein the maximum inclination angle refers to the maximum value among a plurality of inclination angles acquired over a period of time, and the current pose information of the pipe robot is represented by the maximum inclination angle. Similarly, the maximum pressure refers to a maximum value among a plurality of pressures collected over a period of time, and the current pressure of the pipeline robot is measured by the maximum pressure.
A set pressure F0 of the pipeline robot, which can be understood as an ideal pressure, and a set inclination angle θ 0, which can be understood as an inclination angle corresponding to the pipeline robot in the initial attitude, are acquired. The pressure deviation F and the pressure change rate EF (where EF is F/F0) are determined from the set pressure F0 and the maximum pressure Fmax, and the inclination angle deviation θ and the inclination angle change rate E θ (where E θ is θ/θ 0) are determined from the set inclination angle θ 0 and the maximum inclination angle θ max. The pressure deviation F and the pressure change rate EF are input to a position fuzzy controller FC1, and the speed difference Δ v between the two driving wheels is output1The inclination angle deviation theta and the inclination angle change rate E theta are used as the input of a pose fuzzy controller FC2, and the speed difference delta v between the two driving wheels is output2。
The position fuzzy controller FC1 is a fuzzy control algorithm, wherein the pressure deviation F corresponds to F in the fuzzy control algorithm, and the pressure change rate EF corresponds to EF in the fuzzy control algorithm. Similarly, the posture blur controller FC2 refers to a blur control algorithm, where the inclination angle deviation θ corresponds to F in the blur control algorithm, and the inclination angle change rate E θ corresponds to EF in the blur control algorithm. The above speed difference Δ v1Sum velocity difference Δ v2Corresponding to U in the fuzzy control algorithm described above.
The above-mentioned process of determining the pressure deviation F and the pressure change rate EF can be implemented by an upper layer fuzzy controller, and the above-mentioned process of determining the inclination angle deviation θ and the inclination angle change rate eo can be implemented by a lower layer fuzzy controller, it being understood that both the upper layer fuzzy controller and the lower layer fuzzy controller are algorithms in the processor 1. The above-described process of determining the pressure deviation F and the pressure change rate EF, and determining the inclination angle deviation θ and the inclination angle change rate E θ corresponds to the state analysis shown in fig. 2. The fuzzy controller described above may also be referred to as a Mamdani type fuzzy controller.
The above FC1 and FC2 constitute two-layer fuzzy control algorithms, one for determining a speed difference based on pose information, and the other for determining a speed difference based on pressure. The speed difference is determined by adopting a layered fuzzy control algorithm, the coordination of system control can be improved, the oscillation frequency of the algorithm is less, the rise time is short, and the stability is better.
After the above-mentioned speed difference Deltav is determined1Sum velocity difference Δ v2Then, based on the speed difference Δ v1Sum velocity difference Δ v2Determining the speed difference Deltav between the two driving wheels, which can be generally referred to1Sum velocity difference Δ v2And performing weighted fusion, and taking the speed difference after weighted fusion as the speed difference delta v between the two driving wheels. The above is based on the velocity difference Δ v, taking into account the importance of the inclination angle and the pressure to the velocity difference1Sum velocity difference Δ v2One way to determine the speed difference Δ v may be implemented: acquiring a first weight a1 corresponding to a pose and a second weight a2 corresponding to a pressure; according to the speed difference Deltav1First weight a1, velocity difference Δ v2And a second weight a2, determining the speed difference av between the two driven wheels (corresponding to the positive and negative assignments shown in fig. 2). Based on this velocity difference Δ v, the driving wheels (corresponding to the driving bodies in fig. 2), that is, the posture of the pipe robot and the pressure of the driving wheels are adjusted by the master driving circuit 2.
After the speed difference Δ v between the two driving wheels is determined based on the fuzzy control algorithm, the current pose information of the pipeline robot and the pressure of the driving wheels are respectively adjusted through the main control driving circuit 2 based on the speed difference Δ v, wherein one realizable mode of adjusting the current pose of the pipeline robot through the main control driving circuit 2 according to the speed difference Δ v is as follows:
when the speed difference delta v is larger than a first set value, the pose inclination angle is larger, namely the pipeline robot deviates from a reference direction, wherein the reference direction refers to that the running direction of the pipeline robot is coincident with the pipeline axis, namely the inclination angle is 0 degree. Then by the master drive circuit 2, according to P FV, where P is power, F is pressure, and V is speed. When the power P is constant, the speed difference Δ v increases, and the pressure difference increases. From this pressure difference, a force F opposite to the deviating direction of the pipeline robot can be determined; according to M-Fr, where M is moment, F is force, and r is radius, the distance vector from the axis of rotation to the point of application is represented. In the case of a constant r, a counter moment is determined, which is opposite to the deflection direction of the pipeline robot, as a function of the force F and the radius r. The deviation direction refers to a driving direction of the pipeline robot, that is, a direction corresponding to the maximum inclination angle. According to the reverse moment, the current pose information of the pipeline robot is adjusted through the main control driving circuit 2, so that the pipeline robot is recovered to the optimal pose, namely, the current pose is close to the reference direction, at the moment, the speed difference between the two driving wheels is increased, and the pipeline robot walks more stably in the pipeline and turns more smoothly.
If the speed difference delta v is not larger than the first set value, the current pose of the pipeline robot is better, and the current pose of the pipeline robot can be not adjusted, namely, the speed difference of the two driving wheels is kept to be 0.
In an alternative aspect of the invention, if the velocity difference Δ v is greater than the first set value, indicating that the pipeline robot is moving away from the reference direction, and if the inclination angle is tending to increase, indicating that the pipeline robot is moving away from the reference direction, the alignment position is adjusted according to the velocity difference Δ v. If the speed difference delta v is larger than the first set value, but the inclination angle tends to become smaller, which indicates that the pipeline machine has the possibility of recovering to the optimal pose, the pose can not be adjusted firstly.
One way to adjust the pressure of the two driving wheels by the main control driving circuit 2 according to the speed difference Δ v is as follows:
if the speed difference Δ V is greater than the second set value, it indicates that the pressure of the driving wheel is too high and the pressure of the driving wheel needs to be reduced. That is, when the speed difference between the two driving wheels becomes larger, the pressure difference between the two driving wheels becomes larger, and when the speed difference Δ v is larger than the second set value, the diameter of the driving wheel can be reduced by the main control driving circuit 2, so as to reduce the pressure of the two driving wheels, and prevent the pressure of the driving wheels from being too large to be stranded. When the speed difference is smaller than the third set value, the pressure of the driving wheel is too small, the pressure of the driving wheel needs to be increased, the diameter of the driving wheel can be increased through the main control driving circuit 2, so that the pressure of the two driving wheels is increased, and stall caused by small pressure is prevented. Wherein the third set value is less than the second set value.
As an example, assuming that the power of both the two driving wheels is 6w, the initial pressure of the two driving wheels is 1N, the speed is 6v, and when the speed of one of the driving wheels becomes larger to 2v, the pressure becomes 3N, whereby the speed difference between the two driving wheels becomes larger, and the pressure difference between the two driving wheels becomes larger. Therefore, when the speed difference Δ v is larger than the second set value, the diameter of the driving wheel can be reduced, and the pressure of the driving wheel on the pipe wall can be reduced, so that the pressure of the two driving wheels can be reduced.
It will be appreciated that when the pressure of the drive wheels is adjusted, the pressure of each drive wheel can be adjusted separately. For example, in the above example, if the pressure of one driving wheel a is not changed and is always 1N, and the pressure of the other driving wheel B is changed from 1N to 3N, it is the driving wheel B that needs to adjust the pressure.
In an alternative of the invention, the power output from the two driving wheels can also be controlled by a voltage divider, and the pressure of the two driving wheels can be adjusted by changing the power. The above-mentioned control of the voltage distributed to each of the two driving wheels by means of the voltage divider according to the speed difference, one way of achieving, for each driving wheel, an adjustment of the current pressure of the driving wheel by means of the master driving circuit 2 according to the voltage of the driving wheel is:
when the speed difference Δ V is greater than the second set value, it indicates that the pressure of the driving wheel is too large, and the pressure of the driving wheel needs to be reduced, for each driving wheel, the main control driving circuit 2 reduces the voltage of the driving wheel according to P ═ UI, where P is power, I is current, and U is voltage, and under the condition that the current of the driving wheel is not changed, the power P corresponding to the driving wheel is reduced, and then according to P ═ FV, where P is power, F is pressure, and V is speed. When the power of the drive wheels is reduced, the pressure is reduced when the speed is not changed.
When the speed difference Δ V is smaller than the third setting value, it indicates that the pressure of the driving wheel is too small, and the pressure of the driving wheel needs to be increased, for each driving wheel, the main control driving circuit 2 increases the voltage of the driving wheel according to P ═ UI, where P is power, I is current, and U is voltage, and when the current of the driving wheel is not changed, the power P corresponding to the driving wheel becomes large, and then according to P ═ FV, where P is power, F is pressure, and V is speed. When the power of the drive wheels is reduced and the speed is not changed, the pressure is increased.
Wherein the third set value is less than the second set value.
When the speed difference Δ v is not greater than the second set value and the speed difference Δ v is not less than the third set value, it indicates that the current pressure of the driving wheel is relatively appropriate, and matches the current motion state, and the current pressure may not be adjusted.
If the voltage divider is connected with the variable-diameter motor corresponding to the driving wheel, an implementation manner of adjusting the pressures of the two driving wheels through the main control driving circuit 2 according to the speed difference Δ v is as follows: when the speed difference delta v is larger than a second set value, the pressure of the driving wheel is over high, the pressure of the driving wheel needs to be reduced, the diameter of the driving wheel is reduced by controlling the reducing motor through the voltage divider, and the pressure of the driving wheel on the pipe wall is reduced so as to reduce the pressure of the driving wheel.
When the speed difference delta v is smaller than a third set value, the pressure of the driving wheel is too small, the pressure of the driving wheel needs to be increased, and for each driving wheel, the reducing motor can be controlled through the voltage divider, so that the diameter of the driving wheel is increased, the pressure of the driving wheel on the pipe wall is increased, and the pressure of the driving wheel is increased.
For a better illustration and understanding of the principles of the method provided by the present invention, the solution of the invention is described below with reference to an alternative embodiment.
In this example, referring to a schematic structural diagram of a control system of a pipeline robot shown in fig. 3, the control system of the pipeline robot includes:
a control board arranged inside the pipeline robot and an STM32 single chip microcomputer (an STM32 chip shown in FIG. 3), a main control driving circuit 2 (a main control driving shown in FIG. 3) and a wired interface (the wired interface can be at least one of an SB interface, an SD interface or an RS-232 interface) which are arranged on the control board;
the system comprises a control console, a SLAM module, a voltage divider externally connected with the control panel, a pose sensor 3 (an IMU sensor shown in figure 3) and a pressure sensor 4 which are arranged on a driving wheel of the pipeline robot, and a direct current brushless speed reducing motor (a direct current brushless motor shown in figure 3) connected with the pose sensor 3;
the console, the voltage divider, the master control driving circuit 2, the SLAM module, the pose sensor 3 and the pressure sensor 4 are respectively connected with the single chip microcomputer;
the pose sensor 3 is used for acquiring the current pose information of the pipeline robot;
the pressure sensor 4 is configured to obtain current pressures of two driving wheels of the pipeline robot;
the above voltage divider for controlling the voltage distributed to each of the two drive wheels;
the SLAM module is used for acquiring the position information of the pipeline robot;
the direct current brushless speed reducing motor is used for providing power for the motion of the pipeline robot;
the control console is used for acquiring a control instruction of a user on the pipeline robot;
the single chip microcomputer is used for executing the following operations:
a: acquiring a control instruction sent by a console, and sending the control instruction to a main control driving circuit 2 so as to control the motion of the pipeline robot according to the control instruction;
b: acquiring current pose information and current pressure, determining a speed difference between the two driving wheels according to the current pose information and the current pressure, adjusting the current pose of the pipeline robot through the main control driving circuit 2 according to the speed difference, controlling the voltage distributed to each driving wheel of the two driving wheels through the voltage divider according to the speed difference, and adjusting the current pressure of the driving wheels through the main control driving circuit 2 according to the voltage of the driving wheels for each driving wheel;
c: and acquiring the position information, and controlling the motion of the pipeline robot according to the position information.
In the solution of the present invention, the execution sequence of the A, B and C processing procedures is not limited, and corresponding operations may be executed according to actual requirements, for example, when the control instruction is obtained, the operation a is executed, and when the position information is obtained, the operation C is executed. The A, B and C processing procedures corresponding to the single chip correspond to the explanation, operation and execution of the motion instruction shown in FIG. 3.
The active drive also provides an I/O bus for transmitting data and control signals.
In the control system, the power supply interface of the control board adopts an XT30 interface.
The above-mentioned single chip microcomputer can determine the specific implementation process of the speed difference between the two driving wheels according to the current pose information and the current pressure based on the fuzzy control algorithm (corresponding to the fuzzy controller shown in fig. 3) and is described in detail in the foregoing, which is not described herein again. The position (pressure) and attitude (inclination angle) of a driving wheel (e.g., a crawler wheel) can be controlled based on the speed difference output by the fuzzy controller.
After the speed difference between the two driving wheels is determined, if the speed difference is larger than the first set value and the inclination angle at this time tends to become larger, it indicates that the pose inclination angle is larger, that is, the pipeline robot deviates from the reference direction, wherein the reference direction means that the traveling direction of the pipeline robot coincides with the pipeline axis, that is, the inclination angle is 0 degree. Then by the master drive circuit 2, according to P FV, where P is power, F is pressure, and V is speed. Under the condition that the power P is not changed, the speed difference delta v is increased, and the pressure difference is increased along with the increase; from this pressure difference, a force F opposite to the deviating direction of the pipeline robot can be determined; according to M-Fr, where M is moment, F is force, and r is radius, the distance vector from the axis of rotation to the point of application is represented. With r constant, depending on the force F and the radius r, a counter moment M can be determined which is opposite to the deflection direction of the pipeline robot. The deviation direction refers to a driving direction of the pipeline robot, that is, a direction corresponding to the maximum inclination angle. According to the reverse torque, the current pose information of the pipeline robot is adjusted, so that the pipeline robot is recovered to the optimal pose, and at the moment, the speed difference between the two driving wheels is increased, so that the pipeline robot can walk in the pipeline more stably and can pass a bend more smoothly.
If the speed difference delta v is not larger than the first set value, the current pose of the pipeline robot is better, and the current pose of the pipeline robot can be not adjusted, namely, the speed difference of the two driving wheels is kept to be 0.
If the speed difference Δ V is greater than the second set value, which indicates that the pressure of the driving wheel is too large, and the pressure of the driving wheel needs to be reduced, for each driving wheel, the main control driving circuit 2 reduces the voltage of the driving wheel according to P ═ UI, where P is power, I is current, and U is voltage, and under the condition that the current of the driving wheel is not changed, the power P corresponding to the driving wheel is reduced, and then according to P ═ FV, where P is power, F is pressure, and V is speed. When the power of the drive wheels is reduced, the pressure is reduced when the speed is not changed.
When the speed difference Δ V is smaller than the third setting value, it indicates that the pressure of the driving wheel is too small, and the pressure of the driving wheel needs to be increased, for each driving wheel, the main control driving circuit 2 increases the voltage of the driving wheel according to P ═ UI, where P is power, I is current, and U is voltage, and when the current of the driving wheel is not changed, the power P corresponding to the driving wheel becomes large, and then according to P ═ FV, where P is power, F is pressure, and V is speed. When the power of the drive wheels is reduced and the speed is not changed, the pressure is increased. Wherein the third set value is less than the second set value.
When the speed difference Δ v is not greater than the second set value and the speed difference Δ v is not less than the third set value, it indicates that the current pressure of the driving wheel is relatively appropriate, and matches the current motion state, and the current pressure may not be adjusted.
Through the control system of pipeline robot that this embodiment provided, there is following technological effect:
on the first hand, the current pose information of the pipeline robot is acquired based on the pose sensor 3 arranged on the driving wheel of the pipeline robot, the current pressure of the two driving wheels of the pipeline robot is acquired based on the pressure sensor 4 arranged on the pipeline robot, the single chip microcomputer determines the speed difference between the two driving wheels according to the two parameters, the pose change of the pipeline robot and the pressure change of the driving wheels are reflected through the speed difference, so as to realize the adjustment of the pose of the pipeline robot and the pressure of the driving wheels according to the speed difference, for the pipeline with a negative impurity structure, the pose of the pipeline robot in the pipeline and the pressure of the driving wheels can be simultaneously controlled through the control system, the timeliness of the control system is improved, and the lower motion of the pipeline robot is adjusted no matter the pose or the pressure is adjusted, so that the motion stability of the robot is improved, in addition, no matter the adjustment of the pose or the pressure is carried out, the adjustment is carried out based on the current pose information and the current pressure, so that the control precision can be improved.
In the second aspect, when pressure is adjusted, the two driving wheels can be adjusted through the voltage divider respectively, more complex scenes can be met, and control accuracy is further improved.
In a third aspect, in some scenes, the pipeline robot can not only automatically control the motion in the pipeline based on the information of the pipeline robot, but also realize manual control of the pipeline robot based on the control instruction of the user through a control console, thereby ensuring the smooth work of the pipeline robot.
In the fourth aspect, the direct-current brushless speed reduction motor is adopted to provide power for the pipeline air person, and compared with other transmission devices, the structure is simple.
In the fifth aspect, a wired interface is further arranged on the control system, and the pipeline robot can communicate with external equipment through the wired interface so as to meet different communication requirements. And, under the condition that does not have the network, can communicate through the wired communication mode, guarantee the normal work of pipeline robot.
In the sixth aspect, the pipeline robot can automatically control the motion of the pipeline robot in the pipeline through the position information collected by the SLAM module by the processor 1, so as to ensure that the pipeline robot runs smoothly in the pipeline.
Based on the same principle as the control system shown in fig. 1, an embodiment of the present invention also provides a control method of a pipeline robot, which may include:
step S110, acquiring current pose information of the pipeline robot and current pressures of two driving wheels of the pipeline robot;
step S120, determining the speed difference between the two driving wheels according to the current pose information and the current pressure;
and step S130, respectively adjusting the current pose of the pipeline robot and the current pressure of the two driving wheels according to the speed difference.
Optionally, in step S130, adjusting the current pose of the pipeline robot and the current pressures of the two driving wheels according to the speed difference respectively includes:
determining a reverse moment according to the speed difference, and adjusting the current pose of the pipeline robot according to the reverse moment so as to enable the pipeline robot to approach a reference direction, wherein the direction of the reverse moment is opposite to the deviation direction of the pipeline robot, the reference direction is the axial direction of the pipeline, and the deviation direction is the direction deviating from the reference direction;
and adjusting the diameters of the driving wheels of the two driving wheels according to the speed difference so as to adjust the current pressures of the two driving wheels.
The direction of the counter moment is opposite to the deviating direction, and the direction is a direction for making the pipeline robot approach the reference direction.
Optionally, the determining the reverse torque according to the speed difference includes:
when the speed difference is larger than a first set value, determining the pressure difference according to the correlation between the speed difference and the pressure difference;
determining a reverse force from the pressure difference;
and determining the reverse moment according to the reverse force.
The first setting value can be configured based on actual demands, the larger the speed difference is, the more the pipeline robot is deviated from the reference direction, the greater the speed difference is, the greater the pressure difference is, the pressure difference can be determined according to the speed difference, the force in the direction can be determined through the pressure difference, the Fr and the r are unchanged, the reverse moment M can be calculated, and the adjusted pipeline robot can be close to the reference direction according to the reverse moment. And when the speed difference is not greater than the first set value, the current pose of the pipeline robot is not adjusted.
Optionally, the adjusting process of adjusting the diameters of the driving wheels of the two driving wheels according to the speed difference includes:
when the speed difference is larger than a second set value, the diameter of the driving wheel is reduced, so that the pressure of the adjusted driving wheel is reduced;
and when the speed difference is smaller than a third set value, the diameter of the driving wheel is increased so as to increase the pressure of the adjusted driving wheel, wherein the third set value is smaller than the second set value.
When the speed difference is smaller than the third set value, the pressure of the driving wheel is too small, and the diameter of the driving wheel is increased, so that the pressure of the driving wheel is increased. The adjusted driving wheel may be one driving wheel or two driving wheels, for example, in a case that the speed difference is generally larger, the pressure difference is also larger, in this case, the pressure of one driving wheel may be too large, and the pressure of the other driving wheel does not need to be adjusted, so that only the pressure of the driving wheel with too large pressure may be adjusted. Similarly, if the speed difference is smaller, the pressure difference is also smaller, and in this case, the pressure of one driving wheel may be too small, and the pressure of the other driving wheel may not be adjusted, and only the pressure of the driving wheel with too small pressure may be adjusted.
The second setting value and the third setting value may be configured based on actual requirements, and the present invention is not limited in this respect.
It should be noted that, the above-mentioned control method is the same as the implementation principle of the control system of the pipeline robot described above, and the specific implementation manner how to determine the speed difference between the two driving wheels according to the current pose information and the current pressure is the same as the specific implementation manner described above, and is not described herein again. The specific implementation manner for adjusting the current pose of the pipeline robot and the current pressures of the two driving wheels according to the speed difference is the same as the specific implementation manner described above, and is not described herein again.
Based on the same principle as the control system shown in fig. 1, the embodiment of the present invention further provides a control apparatus 20 of a pipeline robot, as shown in fig. 5, the control apparatus 20 of the pipeline robot may include a data acquisition module 210, a speed difference determination module 220, and an adjustment module 230, wherein:
a data acquisition module 210 for acquiring current pose information of the pipeline robot and current pressures of two driving wheels of the pipeline robot;
a speed difference determining module 220, configured to determine a speed difference between the two driving wheels according to the current pose information and the current pressure;
and the adjusting module 230 is configured to adjust the current pose of the pipeline robot and the current pressures of the two driving wheels according to the speed difference.
Optionally, when the adjusting module 230 respectively adjusts the current pose of the pipeline robot and the current pressures of the two driving wheels according to the speed difference, the adjusting module is specifically configured to:
determining a reverse moment according to the speed difference, and adjusting the current pose of the pipeline robot according to the reverse moment so as to enable the pipeline robot to approach a reference direction, wherein the direction of the reverse moment is opposite to the deviation direction of the pipeline robot, the reference direction is the axial direction of the pipeline, and the deviation direction is the direction deviating from the reference direction;
and adjusting the diameters of the driving wheels of the two driving wheels according to the speed difference so as to adjust the current pressures of the two driving wheels.
The control device for a pipeline robot according to an embodiment of the present invention can execute the control method for a pipeline robot according to an embodiment of the present invention, and the implementation principle is similar, the actions executed by each module and unit in the control device for a pipeline robot according to an embodiment of the present invention correspond to the steps in the control method for a pipeline robot according to an embodiment of the present invention, and the detailed functional description of each module of the control device for a pipeline robot can be referred to the description of the corresponding control method for a pipeline robot shown in the foregoing, and the detailed description thereof is omitted here.
The control device of the pipeline robot may be a computer program (including program code) running in a computer device, for example, the engine control device is an application software; the apparatus may be used to perform the corresponding steps in the methods provided by the embodiments of the present invention.
In some embodiments, the control Device of the pipeline robot provided by the embodiments of the present invention may be implemented by combining hardware and software, and by way of example, the control Device of the pipeline robot provided by the embodiments of the present invention may be a processor in the form of a hardware decoding processor, which is programmed to execute the engine control method provided by the embodiments of the present invention, for example, the processor in the form of the hardware decoding processor may be implemented by one or more Application Specific Integrated Circuits (ASICs), DSPs, Programmable Logic Devices (PLDs), Complex Programmable Logic Devices (CPLDs), Field Programmable Gate Arrays (FPGAs), or other electronic components.
In other embodiments, the control device of the pipeline robot provided by the embodiment of the present invention can be implemented by software, and fig. 5 shows the control device of the pipeline robot stored in the memory, which can be software in the form of programs and plug-ins, and includes a series of modules including a data acquisition module 210, a speed difference determination module 220, and an adjustment module 230, for implementing the control method of the pipeline robot provided by the embodiment of the present invention.
The modules described in the embodiments of the present invention may be implemented by software or hardware. Wherein the name of a module in some cases does not constitute a limitation on the module itself.
Based on the same principle as the method shown in the embodiment of the present invention, an embodiment of the present invention also provides an electronic device, which may include but is not limited to: a processor and a memory; a memory for storing a computer program; and a processor for executing the control method of the pipeline robot according to any one of the embodiments of the present invention by calling a computer program.
In an alternative embodiment, an electronic device is provided, as shown in fig. 6, the electronic device 4000 shown in fig. 6 comprising: a processor 4001 and a memory 4003. Processor 4001 is coupled to memory 4003, such as via bus 4002. Optionally, the electronic device 4000 may further include a transceiver 4004, and the transceiver 4004 may be used for data interaction between the electronic device and other electronic devices, such as transmission of data and/or reception of data. In addition, the transceiver 4004 is not limited to one in practical applications, and the structure of the electronic device 4000 is not limited to the embodiment of the present invention.
The Processor 4001 may be a CPU (Central Processing Unit), a general-purpose Processor, a DSP (Digital Signal Processor), an ASIC (Application Specific Integrated Circuit), an FPGA (Field Programmable Gate Array) or other Programmable logic device, a transistor logic device, a hardware component, or any combination thereof. Which may implement or perform the various illustrative logical blocks, modules, and circuits described in connection with the disclosure. The processor 4001 may also be a combination that performs a computational function, including, for example, a combination of one or more microprocessors, a combination of a DSP and a microprocessor, or the like.
Bus 4002 may include a path that carries information between the aforementioned components. The bus 4002 may be a PCI (Peripheral Component Interconnect) bus, an EISA (Extended Industry Standard Architecture) bus, or the like. The bus 4002 may be divided into an address bus, a data bus, a control bus, and the like. For ease of illustration, only one thick line is shown in FIG. 6, but this is not intended to represent only one bus or type of bus.
The Memory 4003 may be a ROM (Read Only Memory) or other types of static storage devices that can store static information and instructions, a RAM (Random Access Memory) or other types of dynamic storage devices that can store information and instructions, an EEPROM (Electrically Erasable Programmable Read Only Memory), a CD-ROM (Compact Disc Read Only Memory) or other optical Disc storage, optical Disc storage (including Compact Disc, laser Disc, optical Disc, digital versatile Disc, blu-ray Disc, etc.), a magnetic Disc storage medium or other magnetic storage devices, or any other medium that can be used to carry or store desired program code in the form of instructions or data structures and that can be accessed by a computer, but is not limited to these.
The memory 4003 is used for storing application program codes (computer programs) for executing the aspects of the present invention, and the execution is controlled by the processor 4001. Processor 4001 is configured to execute application code stored in memory 4003 to implement what is shown in the foregoing method embodiments.
The electronic device may also be a terminal device, and the electronic device shown in fig. 6 is only an example, and should not bring any limitation to the functions and the application scope of the embodiment of the present invention.
Embodiments of the present invention provide a computer-readable storage medium, on which a computer program is stored, which, when running on a computer, enables the computer to execute the corresponding content in the foregoing method embodiments.
According to another aspect of the invention, there is also provided a computer program product or computer program comprising computer instructions stored in a computer readable storage medium. The processor of the computer device reads the computer instructions from the computer readable storage medium, and the processor executes the computer instructions to cause the computer device to execute the engine control method provided in the various embodiment implementations described above.
Computer program code for carrying out operations for aspects of the present invention may be written in any combination of one or more programming languages, including an object oriented programming language such as Java, Smalltalk, C + + or the like and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code may execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any type of network, including a Local Area Network (LAN) or a Wide Area Network (WAN), or the connection may be made to an external computer (for example, through the Internet using an Internet service provider).
It should be understood that the flowchart and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of methods and computer program products according to various embodiments of the present invention. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.
The computer readable storage medium provided by the embodiments of the present invention may be, for example but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination thereof. More specific examples of the computer readable storage medium may include, but are not limited to: an electrical connection having one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. In the present invention, a computer readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device.
The computer-readable storage medium carries one or more programs which, when executed by the electronic device, cause the electronic device to perform the methods shown in the above embodiments.
In the description of the present invention, it is to be understood that the terms "central," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," "circumferential," and the like are used in the orientations and positional relationships indicated in the drawings for convenience in describing the invention and to simplify the description, and are not intended to indicate or imply that the referenced device or element must have a particular orientation, be constructed and operated in a particular orientation, and are not to be considered limiting of the invention.
Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present invention, "a plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise.
In the present invention, unless otherwise expressly stated or limited, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can, for example, be fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; they may be directly connected or indirectly connected through intervening media, or they may be connected internally or in any other suitable relationship, unless expressly stated otherwise. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
In the present invention, unless otherwise expressly stated or limited, the first feature "on" or "under" the second feature may be directly contacting the first and second features or indirectly contacting the first and second features through an intermediate. Also, a first feature "on," "over," and "above" a second feature may be directly or diagonally above the second feature, or may simply indicate that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature may be directly under or obliquely under the first feature, or may simply mean that the first feature is at a lesser elevation than the second feature.
Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention, and that variations, modifications, substitutions and alterations can be made to the above embodiments by those of ordinary skill in the art within the scope of the present invention.
The foregoing description is only exemplary of the preferred embodiments of the invention and is illustrative of the principles of the technology employed. It will be appreciated by those skilled in the art that the scope of the disclosure herein is not limited to the particular combination of features described above, but also encompasses other embodiments in which any combination of the features described above or their equivalents is encompassed without departing from the spirit of the disclosure. For example, the above features and (but not limited to) features having similar functions disclosed in the present invention are mutually replaced to form the technical solution.

Claims (10)

1. A control system of a pipeline robot, comprising:
the system comprises a processor and a main control driving circuit which are arranged in the pipeline robot, and a pose sensor and a pressure sensor which are arranged on the pipeline robot;
the main control driving circuit, the pose sensor and the pressure sensor are respectively connected with the processor;
the pose sensor is used for acquiring the current pose information of the pipeline robot;
the pressure sensor is used for acquiring the current pressures of two driving wheels of the pipeline robot;
the processor is used for acquiring the current pose information and the current pressure, determining a speed difference between the two driving wheels according to the current pose information and the current pressure, and respectively adjusting the current pose of the pipeline robot and the current pressure of the two driving wheels through the main control driving circuit according to the speed difference.
2. The control system of claim 1, further comprising a voltage divider disposed in the pipeline robot, the voltage divider being connected to the processor and the master drive circuit, respectively;
the voltage divider for controlling the voltage distributed to each of the two drive wheels;
the processor, in adjusting the current pressures of the two driving wheels through the master driving circuit according to the speed difference, further includes:
controlling, by the voltage divider, a voltage distributed to each of the two drive wheels based on the speed difference, and for each drive wheel, adjusting, by the master drive circuit, a current pressure of the drive wheel based on the voltage of the drive wheel.
3. The control system according to claim 1, characterized in that the pose sensors are provided on drive wheels of the pipeline robot;
the control system also comprises a direct current brushless speed reducing motor, and the direct current brushless speed reducing motor is connected with the pose sensor;
the direct current brushless gear motor is used for providing power for the motion of the pipeline robot.
4. The control system of any one of claims 1 to 3, further comprising a console connected to the processor, the console being disposed outside the pipeline robot;
the control console is used for acquiring a control instruction of a user to the pipeline robot;
the processor is further configured to obtain the control instruction and send the control instruction to the master control driving circuit to control the motion of the pipeline robot according to the control instruction;
the control system also comprises a synchronous positioning and mapping module, the synchronous positioning and mapping module is arranged on the pipeline robot, and the synchronous positioning and mapping module is connected with the processor;
the synchronous positioning and mapping module is used for acquiring the position information of the pipeline robot;
the processor is further configured to acquire the position information and control the motion of the pipeline robot according to the position information.
5. The control system of any one of claims 1 to 3, further comprising a wired interface, the wired interface being connected to the master drive circuit, the wired interface comprising at least one of a Universal Serial Bus (USB) interface, a secure digital card (SD) interface, or an asynchronous transfer standard (RS-232) interface.
6. A method for controlling a pipeline robot, comprising:
acquiring current pose information of a pipeline robot and current pressures of two driving wheels of the pipeline robot;
determining a speed difference between the two driving wheels according to the current pose information and the current pressure;
and respectively adjusting the current pose of the pipeline robot and the current pressure of the two driving wheels according to the speed difference.
7. The method of claim 6, wherein said adjusting the current pose of the pipeline robot and the current pressures of the two driving wheels, respectively, according to the speed difference comprises:
determining a reverse moment according to the speed difference, and adjusting the current pose of the pipeline robot according to the reverse moment so as to enable the pipeline robot to approach a reference direction, wherein the direction of the reverse moment is opposite to the deviation direction of the pipeline robot, the reference direction is the axial direction of a pipeline, and the deviation direction is the direction deviating from the reference direction;
and adjusting the diameters of the driving wheels of the two driving wheels according to the speed difference so as to adjust the current pressures of the two driving wheels.
8. A control device for a pipeline robot, comprising:
the data acquisition module is used for acquiring the current pose information of the pipeline robot and the current pressure of two driving wheels of the pipeline robot;
the speed difference determining module is used for determining the speed difference between the two driving wheels according to the current pose information and the current pressure;
and the adjusting module is used for respectively adjusting the current pose of the pipeline robot and the current pressure of the two driving wheels according to the speed difference.
9. An electronic device comprising a memory, a processor, and a computer program stored on the memory and executable on the processor, the processor implementing the method of any one of claims 6-7 when executing the computer program.
10. A computer-readable storage medium, characterized in that a computer program is stored on the computer-readable storage medium, which computer program, when being executed by a processor, carries out the method of any one of claims 6-7.
CN202111314904.8A 2021-11-08 2021-11-08 Control system, method, device, electronic device, and medium for pipeline robot Pending CN114198595A (en)

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