CN116062056A - Wheeled wall climbing robot facing high-curvature pipe diameter surface and motion control method thereof - Google Patents
Wheeled wall climbing robot facing high-curvature pipe diameter surface and motion control method thereof Download PDFInfo
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- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
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Abstract
The invention relates to a wall climbing robot, in particular to a wheel type wall climbing robot facing a high-curvature pipe diameter surface. The system comprises a robot control system, a detection sensing system, a passive compliance system, a robot frame and a driving system, wherein the passive compliance system and the robot control system are arranged at the front end and the rear end of the robot frame; the driving system comprises a left front wheel driving device, a right front wheel driving device and a left rear wheel driving device and a right rear wheel driving device, wherein the left front wheel driving device and the right front wheel driving device are arranged below the passive compliance system, and the left rear wheel driving device and the right rear wheel driving device are arranged below the rear end of the robot frame; the detection sensing system is arranged on the passive compliance system and the robot frame, and is used for detecting pose information of the robot frame and rolling and yaw information of the passive compliance system and feeding back the pose information and the rolling and yaw information to the robot control system to control the speed of the driving system. The invention can adapt to the crawling of the high-curvature curved surface, finish the precise control of the movement of the robot and improve the use reliability of the wall-climbing robot.
Description
Technical Field
The invention relates to a wall climbing robot, in particular to a wheel type wall climbing robot facing a high-curvature pipe diameter surface and a motion control method thereof.
Background
The pipeline is used as an oil gas and water source transmission channel, is used as an energy infrastructure of the national strategy level in the five transportation industries of railways, aviation, highways and sea. In the energy transportation process, the normal operation of the pipeline can be directly influenced by factors such as aging, rust, breakage, man-made theft and the like. Because the pipeline erection area is in overhead, underground or water bottom more, personnel are difficult to get close to, and simultaneously because the pipeline inner space is limited and is filled by oil gas, cause the maintenance work degree of difficulty big, the cycle is long. With the development of the society and technology, roboticized operation is used as an advanced technical means to replace people to develop dangerous and complex operation work in a limited environment. Aiming at the internal environmental characteristics and the operation requirements of the pipeline, the pipeline operation robot developed at present can be roughly divided into a supporting type and a wall climbing type, wherein the supporting type adopts a multi-claw structure to support the inner wall of the pipeline and rapidly travel along the pipeline, and the defect is that the robot needs to occupy the whole section of the pipeline when in operation, so that the robot is difficult to pass when encountering the conditions of turning, tee joint and other interfaces or partial blockage. The wall climbing type structure is adsorbed on the inner wall of the pipeline in a magnetic attraction mode, and the wall climbing type structure can flexibly turn and has certain obstacle surmounting capacity, so that the robot motion adaptability is good. The inside of the pipeline is a high-curvature curved surface, four-wheel environments change in real time in the movement process of the robot, an accurate robot kinematics model needs to be established in the movement and steering processes, and further the current movement control method cannot finish the accurate control of the movement of the robot.
Disclosure of Invention
The invention provides a wheeled wall climbing robot capable of adapting to a high-curvature curved surface and a motion control method thereof aiming at a high-curvature wall surface of a pipeline. The passive flexible magnetic adsorption wheel type wall climbing robot provided by the invention can improve the magnetic adsorption force and the motion stability of the wall climbing robot through the action of the passive joint, and meanwhile, according to the change of the posture of the robot in a curved surface environment of a pipeline, the movement control method of the wall climbing robot with a curved surface of the pipeline is provided, the precise control of the movement of the robot is completed, and the use reliability of the wall climbing robot is improved. The technical scheme adopted by the invention for achieving the purpose is as follows: the wheel type wall climbing robot facing the high-curvature pipe diameter surface comprises a robot control system, a detection sensing system, a passive compliance system, a robot frame and a driving system, wherein the passive compliance system and the robot control system are respectively arranged at the front end and the rear end of the robot frame, and the passive compliance system has the degrees of freedom of rolling and yawing;
the driving system comprises a right front wheel driving device, a left front wheel driving device, a right rear wheel driving device and a left rear wheel driving device, wherein the right front wheel driving device and the left front wheel driving device are arranged below the passive compliance system, and the right rear wheel driving device and the left rear wheel driving device are arranged below the rear end of the robot frame;
the detection sensing system is arranged on the passive compliance system and the robot frame, and is used for detecting pose information of the robot frame and rolling and yaw information of the passive compliance system and feeding back the pose information and the rolling and yaw information to the robot control system, and the robot control system controls the speed of the driving system.
The passive flexible system comprises a reset spring, a yaw shaft, a transverse rolling shaft, a mounting base and an upper connecting flange, wherein the transverse rolling shaft is rotatably mounted on the mounting base, one end of the yaw shaft is vertically connected with the roll shaft, the other end of the yaw shaft is rotatably connected with the upper connecting flange, the upper connecting flange is connected with the mounting base through two reset springs symmetrically arranged on two sides of the roll shaft, and the upper connecting flange is connected with the robot frame.
The detection sensing system comprises an inclination angle sensing unit and two angle sensor units, wherein the inclination angle sensing unit is arranged at the center of the robot frame and is used for feeding back an included angle between the robot and a pipeline bus; the two angle sensor units are respectively arranged on the yaw shaft and the transverse rolling shaft, and are used for feeding back angle parameters of relative rotation taking the center axes of the yaw shaft and the transverse rolling shaft as the center and providing the angle parameters for the robot control system.
The tilt sensing unit includes a gyroscope and an accelerometer.
A front driving device mounting seat is arranged below the passive compliant system, and the right front wheel driving device and the left front wheel driving device are symmetrically arranged on the front driving device mounting seat;
the rear end of the robot frame is provided with a rear driving device mounting seat, and the right rear wheel driving device and the left rear wheel driving device are symmetrically arranged on the rear driving device mounting seat.
The right front wheel driving device, the left front wheel driving device, the right rear wheel driving device and the left rear wheel driving device are identical in structure and comprise a brushless direct current motor, a multi-stage gear transmission mechanism and an adsorption magnetic wheel, wherein the output end of the brushless direct current motor is connected with the adsorption magnetic wheel through the multi-stage gear transmission mechanism, and the adsorption magnetic wheel is rotatably arranged at the lower end of a front driving device mounting seat or a rear driving device mounting seat.
The front driving device mounting seat and the rear driving device mounting seat have the same structure and comprise a motor accommodating cavity at the upper part and gear boxes arranged at two ends of the motor accommodating cavity, the brushless direct current motor is accommodated in the motor accommodating cavity, and the multistage gear transmission mechanism is accommodated in the gear boxes.
The multistage gear transmission mechanism comprises a gear A, a gear B and a gear C which are sequentially meshed and transmitted from top to bottom, wherein the gear A is arranged on an output shaft of the brushless direct current motor, the gear B is rotatably installed on a front driving device installation seat or a rear driving device installation seat, and the gear C is arranged on a magnetic wheel supporting shaft of the adsorption magnetic wheel.
The motion control method of the wheeled wall climbing robot facing the high-curvature pipe diameter surface is characterized by comprising the following steps of:
1) Constructing a pipeline global coordinate system { W } of a pipeline where the wall climbing robot is located and a robot mass center coordinate system { M };
2) Determining the position of the wall-climbing robot in the pipeline through the relative change of the pipeline global coordinate system { W } and the robot centroid coordinate system { M };
3) According to the position of the passive flexible system of the wall climbing robot and the point contact positions of the plurality of adsorption magnetic wheels and the pipe wall, a body coordinate system of the wall climbing robot and a contact coordinate system of the plurality of adsorption magnetic wheels and the pipe wall are established;
4) Acquiring a kinematic model of the wall climbing robot in a pipeline curved surface environment according to a transformation relation between the coordinate systems of the body of the wall climbing robot;
5) According to the kinematic model, the pose change rate of the robot body in a reference coordinate system is obtained, and the driving speed of each adsorption magnetic wheel of the wall-climbing robot is determined according to the pose change rate
Thereby realizing the motion control of the wall climbing robot.
The step 1) specifically comprises the following steps:
taking the central point of the cross section of the pipeline as an origin, taking the axial direction of the pipeline as the z-axis direction, taking the vertical upward direction as the x-axis, and enabling the y-axis to be vertical to the x-axis and the z-axis, so as to complete the establishment of a global coordinate system { W } of the pipeline;
the robot centroid is taken as an origin, the advancing direction of the robot is taken as a z-axis direction, a plane vertical to the top of the robot is taken as an x-axis, and a y-axis is vertical to the x-axis and the z-axis, so that the establishment of a robot centroid coordinate system { M } is completed.
The step 2) is specifically as follows:
assume that at the instant t+t of the instant t, the coordinate transformation pose vector of the robot centroid coordinate system { M } is u= [ x y z phi ] x φ y φ z ] T The following steps are:
wherein (x, y, z) and (phi) x ，φ y ，φ z ) The displacement and the rotation angle around the x, y and z axes of the centroid coordinate system { M } of the robot are respectively represented,
and />
Respectively a robot centroid coordinate system { M } is in a robot centroid instantaneous coincidence coordinate system +.>
A velocity component and an angular velocity component.
The step 3) is specifically as follows:
assuming that the adsorption magnetic wheel is simplified into a rigid disc, the contact between the adsorption magnetic wheel and the pipe wall is point contact, and a body coordinate system of the wall climbing robot and contact coordinate systems of a plurality of adsorption magnetic wheels and the pipe wall are established by a Sheth-Uicker method, then:
the body coordinate system of wall climbing robot includes: robot centroid coordinate system { M }, yaw coordinate system { F }, and method for manufacturing the same 1 Roll coordinate system { F } 2 { O of wheel center coordinate system }, a method of generating a coordinate signal i (i＝1，2，3，4)}；
The yaw coordinate system { F 1 Established on the yaw axis of a passive compliant system, zF thereof 1 The axis coinciding with the yaw axis xF 1 The shaft is parallel to the transverse rolling shaft;
the abscissa { F } 2 Established on the transverse rollers of passive compliant systems, zF thereof 2 The axis coincides with the transverse roller, yF 2 The shaft is parallel to the left and right front magnetic wheel supporting shafts;
the wheel center coordinate system { O i (i=1, 2,3, 4) } coincides with the center of the adsorption magnetic wheel, yO i The axis coincides with the magnetic wheel supporting axis, zO i Axis orientationAdsorbing the advancing direction of the magnetic wheel; wherein i is the serial number of the corresponding adsorption magnetic wheel respectively;
the contact coordinate system of the plurality of adsorption magnetic wheels and the pipe wall is as follows:
wheel wall contact coordinate System { P i (i=1, 2,3, 4) } coincides with the wheel wall contact point, yP i The axis pointing to the centre of the magnetic wheel zP i Pointing to the tangential direction of the wheel wall; wherein i is the corresponding magnetic wheel sequence number;
robot mass center instantaneous coincidence coordinate system
Coinciding with the instantaneous moment of the robot mass center coordinate system { M } at the moment t; wheel wall contact instantaneous coincidence coordinate system>
Contact coordinate System with wheel wall { P i The instant instants at time t coincide.
The steps 4) to 5) specifically include:
according to the structural characteristics of the robot body and the pipeline, a wheel wall contact coordinate system { P } is obtained i (i=1, 2,3, 4) } instantaneous coincidence coordinate system with respect to wheel wall contact
Derivative +.about.of the homogeneous change matrix at time t>
The method comprises the following steps:
wherein R' represents the relative radius of curvature, R represents the radius of the attracting magnetic wheel (523),
represents the angular velocity of the attracting magnetic wheel (523), & lt->
Shows the change rate of the geometric contact angle of the adsorption magnetic wheel (523) and the wall surface, and climbs the wallThe coordinate transformation matrix of the body coordinate system of the robot is obtained through the relevant structural size of the robot and the yaw angle and the roll angle of the passive compliance system (3); />
Obtaining a robot mass center coordinate system { M } relative to a robot mass center instantaneous superposition coordinate system at the moment t through a body coordinate system of the wall climbing robot and a transformation relation between a plurality of adsorption magnetic wheels (523) and a contact coordinate system of the pipe wall
Is the relation of (1), namely:
after deriving the two sides of the equation, the method is obtained according to the matrix inverse operation and differential operation principles:
wherein ,θfi (i=1, 2) yaw and roll angles, respectively, D i (i=1, 2,3, 4) are jacobian matrices of four magnetic wheels 6×4 respectively, and the formula (5) is combined to obtain a kinematic model of the wall-climbing robot in the curved surface environment of the pipeline:
wherein ,
the method comprises the steps of driving a driving speed vector of an adsorption magnetic wheel i, and changing the rate of the rotation angle and the changing rate of the geometric contact angle of a wheel wall of a passive compliance system (3); rotation angle theta of passive compliance system (3) f1 and θf2 Obtained by a detection sensing system (2), the geometric contact angle delta of the wheel wall i Acquiring a geometric constraint relation between a robot mechanism and a wall surface; d (D) i The matrix is a jacobian matrix for adsorbing the magnetic wheel i and is a known matrix; />
The matrix is the pose change rate and comprises the change of the mass center of the robot and three angle rotation changes; namely: />
Middle->
Three position changes and
three angle changes;
determining the driving speed of each adsorption magnetic wheel (523) of the wall-climbing robot according to the pose change rate
Namely:
the method obtained in the formula (6)
Substituting into formula (5), namely obtaining the rotating speeds of four magnetic wheels of the robot>
The invention has the following beneficial effects and advantages:
1. the wheel type wall climbing robot facing the high-curvature pipe diameter surface provided by the invention adopts the multi-stage gear transmission mechanism, so that the height of the robot body can be raised, interference with the pipe wall surface during movement is avoided, and meanwhile, the driving force of the magnetic wheel can be increased.
2. The invention adopts the design of the passive compliant mechanism, and the left and right heights of the left front wheel driving device and the right rear wheel driving device can be passively adjusted by the rolling motion of the passive compliant system, so that four magnetic wheels are simultaneously adsorbed on a curved surface at any time, and the adsorption stability and the curved surface adaptability of the wall climbing robot are improved. Yaw movement of the passive compliant system is actively completed by magnetic wheel speed difference of the left front wheel driving device and the right rear wheel driving device, compared with a sliding steering mode of a traditional wheel type wall climbing robot, forced sliding of magnetic wheels during steering can be reduced by shaft-joint steering of a passive compliant joint, and steering flexibility of the wall climbing robot is improved.
3. Aiming at the high-curvature pipeline wall surface maintenance requirement, the invention can carry the working tool to replace manual wall surface inspection and maintenance operation, thereby not only reducing the labor intensity of personnel and improving the working efficiency, but also reducing the danger and guaranteeing the personal safety.
4. According to the wheel type wall climbing robot motion control method for the high-curvature pipe diameter surface, aiming at the characteristic of the pipe high-curvature wall surface, the speed can be reasonably distributed to four magnetic wheels through the control system based on the curved surface kinematic model, the phenomenon of mismatching of motor speeds when the wall climbing robot walks on the pipe curved surface is effectively avoided, and the accurate control of the robot pipe curved surface motion is facilitated.
Drawings
FIG. 1 is a schematic view of a wheeled wall climbing robot facing a high curvature pipe diameter surface;
FIG. 2 is a schematic diagram of the passive compliance system and the drive system of the present invention;
wherein: 1 is a robot control system, 2 is a detection sensing system, 21 is an inclination angle sensing unit, 22 is an angle sensor unit, 3 is a passive compliance system, 301 is a reset spring, 302 is a yaw axis, 303 is a transverse roller, 304 is a mounting base, 4 is a robot frame, 5 is a driving system, 51 is a right front wheel driving device, 52 is a left front wheel driving device, 53 is a right rear wheel driving device, 54 is a left rear wheel driving device, 521 is a brushless direct current motor, 522 is a multi-stage gear transmission mechanism, 523 is an adsorption magnetic wheel, 5221 is a sealing bearing seat, 5222 is a shaft sleeve, 5223 is a gear A,5224 is a gear B,5225 is a bearing A,5226 is a supporting shaft, 5227 is a bearing seat, 5228 is a shaft retainer ring, 5229 is a bearing B,52210 is a gear C,52211 is a deep groove ball bearing, 52212 is a magnetic wheel supporting shaft, and 52213 is a shaft shoulder retainer ring;
FIG. 3 is a schematic view of a robot body coordinate system according to the present invention;
FIG. 4 is a schematic representation of the wheel wall contact coordinate system of the present invention;
fig. 5 is a schematic diagram of the coordinate transformation relationship of the coordinate system of the wall climbing robot of the invention.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and examples.
In order that the above objects, features and advantages of the invention will be readily understood, a more particular description of the invention will be rendered by reference to the appended drawings. In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention. The invention may be embodied in many other forms than described herein and similarly modified by those skilled in the art without departing from the spirit or scope of the invention, which is therefore not limited to the specific embodiments disclosed below.
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used in the description of the invention herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention.
The invention is described in further detail below with reference to the accompanying drawings.
As shown in fig. 1, the wheeled wall climbing robot facing the high-curvature pipe diameter surface provided by the invention comprises a robot control system 1, a detection sensing system 2, a passive compliance system 3, a robot frame 4 and a driving system 5, wherein the passive compliance system 3 and the robot control system 1 are respectively arranged at the front end and the rear end of the robot frame 4, and the passive compliance system 3 has the freedom degree of rolling and yaw; the driving system 5 comprises a right front wheel driving device 51, a left front wheel driving device 52, a right rear wheel driving device 53 and a left rear wheel driving device 54, wherein the right front wheel driving device 51 and the left front wheel driving device 52 are arranged below the passive compliance system 3, and the right rear wheel driving device 53 and the left rear wheel driving device 54 are arranged below the rear end of the robot frame 4; the detection sensing system 2 is arranged on the passive compliance system 3 and the robot frame 4, the detection sensing system 2 is used for detecting pose information of the robot frame 4 and rolling and yaw information of the passive compliance system 3 and feeding back the pose information and the rolling and yaw information to the robot control system 1, and the robot control system 1 controls the speed of the driving system 5 to drive the robot to move integrally and accurately.
As shown in fig. 2, in the embodiment of the present invention, the passive compliance system 3 includes a return spring 301, a yaw shaft 302, a roll shaft 303, a mounting base 304, and an upper connection flange, wherein the roll shaft 303 is rotatably mounted on the mounting base 304, one end of the yaw shaft 302 is vertically connected to the roll shaft 303, the other end of the yaw shaft 302 is rotatably connected to the upper connection flange, and the upper connection flange is connected to the mounting base 304 through two return springs 301 symmetrically disposed on both sides of the roll shaft 303, and the upper connection flange is connected to the robot frame 4.
In the embodiment of the invention, the detection sensing system 2 comprises an inclination angle sensing unit 21 and two angle sensor units 22, wherein the inclination angle sensing unit 21 is arranged at the center of the robot frame 4 and is used for feeding back the included angle between the robot and the bus of the pipeline; the two angle sensor units 22 are provided on the yaw shaft 302 and the roll shaft 303, respectively, and feed back the angle parameters of the relative rotation about the center axes of the yaw shaft 302 and the roll shaft 303, and supply them to the robot control system 1.
In an embodiment of the invention, the tilt sensor unit 21 comprises a gyroscope and an accelerometer for feeding back the angle between the robot and the bus bar of the pipe.
Further, a front driving device mounting seat is arranged below the passive compliance system 3, and a right front wheel driving device 51 and a left front wheel driving device 52 are symmetrically arranged on the front driving device mounting seat; the rear end of the robot frame 4 is provided with a rear drive mounting seat, and the right rear wheel drive 53 and the left rear wheel drive 54 are symmetrically arranged on the rear drive mounting seat.
As shown in fig. 2, in the embodiment of the present invention, the right front wheel driving device 51, the left front wheel driving device 52, the right rear wheel driving device 53 and the left rear wheel driving device 54 have the same structure, and each include a brushless dc motor 521, a multi-stage gear transmission 522 and an adsorption magnetic wheel 523, wherein an output end of the brushless dc motor 521 is connected to the adsorption magnetic wheel 523 through the multi-stage gear transmission 522, and the adsorption magnetic wheel 523 is rotatably mounted at a lower end of a front driving device mounting seat or a rear driving device mounting seat.
In the embodiment of the present invention, the multi-stage gear transmission mechanism 522 includes a gear a5223, a gear B5224 and a gear C52210 which are sequentially engaged from top to bottom, wherein the gear a5223 is disposed on an output shaft of the brushless dc motor 521, the gear B5224 is rotatably mounted on a front driving device mounting seat or a rear driving device mounting seat, and the gear C52210 is disposed on a magnetic wheel supporting shaft 52212 that adsorbs the magnetic wheel 523.
Specifically, both sides of the front and rear driving device mounting seats are provided with a seal bearing seat 5221 and a bearing seat 5227 positioned below the seal bearing seat 5221, and the gear a5223 is mounted on the seal bearing seat 5221 through a shaft sleeve 5222. The bearing block 5227 is provided with a support shaft 5226, and the gear B5224 is mounted on the support shaft 5226 via a bearing a 5225. The magnetic wheel support shaft 52212 is arranged on the mounting seats of the front and rear driving devices through deep groove ball bearings 52211, and is axially limited through a shaft shoulder retainer ring 52213, and a bearing B5229 is arranged at the transmitting end of the magnetic wheel support shaft 52212. The multi-stage gear transmission 522 can raise the height of the robot body, avoid interference with the wall surface of the pipeline during movement, and increase the driving force of the magnetic wheel.
Specifically, the front driving device mounting seat and the rear driving device mounting seat have the same structure, and each front driving device mounting seat and the rear driving device mounting seat comprise a motor accommodating cavity at the upper part and gear boxes arranged at two ends of the motor accommodating cavity, the brushless direct current motor 521 is accommodated in the motor accommodating cavity, and the multistage gear transmission mechanism 522 is accommodated in the gear boxes.
In the embodiment of the invention, a robot control system 1 is arranged on an electric box body of a robot frame, a detection sensing system 2 is arranged on a passive compliance system 3 and a robot frame 4, the detection sensing system 2 feeds back related transmission signals to the robot control system 1, and the robot control system 1 controls the speeds of four adsorption magnetic wheels 523 of a driving system 5 to drive the whole robot to move accurately.
Specifically, the robot frame 4 is formed by processing aluminum alloy, a cavity is formed in the robot frame, relevant control system components can be installed and arranged, and meanwhile, relevant operation tools can be carried for detection and maintenance.
In the embodiment of the invention, the yaw motion of the yaw shaft 302 is actively completed by the magnetic wheel speed difference of the left front wheel driving device 52 and the right rear wheel driving device 53, the roll motion of the roll shaft 303 is passively completed by the magnetic attraction force of the attraction magnetic wheel 523 and the curved surface, and the height difference of the left front wheel driving device 52 and the right rear wheel driving device 53 can be passively adjusted during the motion, so that four attraction magnetic wheels 523 are simultaneously attracted on the curved surface at any time, and the reset spring 301 can avoid the excessive deflection state of the passive compliance system 3.
Aiming at the high-curvature wall surface of the pipeline, the invention provides the wheeled wall climbing robot which can adapt to the high-curvature curved surface, the magnetic adsorption force and the motion stability of the wall climbing robot can be improved through the action of the passive joint, meanwhile, the precise control of the motion of the robot is finished, and the use reliability of the wall climbing robot is improved.
The embodiment also discloses a motion control method of the wheel type wall climbing robot facing the high curvature pipe diameter surface, as shown in fig. 3 to 5, the method can be applied to the four-wheel magnetic adsorption wall climbing robot, and specifically comprises the following steps:
1) Constructing a pipeline global coordinate system { W } of a pipeline where the wall climbing robot is located and a robot mass center coordinate system { M };
2) Determining the position of the wall-climbing robot in the pipeline through the relative change of the pipeline global coordinate system { W } and the robot centroid coordinate system { M };
3) According to the position of the passive compliance system 3 of the wall climbing robot and the point contact positions of the plurality of adsorption magnetic wheels 523 and the pipe wall, a body coordinate system of the wall climbing robot and a contact coordinate system of the plurality of adsorption magnetic wheels 523 and the pipe wall are established;
4) Acquiring a kinematic model of the wall climbing robot in a pipeline curved surface environment according to a transformation relation between the coordinate systems of the body of the wall climbing robot;
5) Obtaining the pose change rate of the robot body in a reference coordinate system according to the kinematic model, and determining the driving speed of each adsorption magnetic wheel 523 of the wall-climbing robot according to the pose change rate
Thereby realizing the motion control of the wall climbing robot.
As shown in fig. 3, a pipeline global coordinate system { W } of a pipeline where the wall climbing robot is located and a robot centroid coordinate system { M } are constructed, and specifically include the following steps:
taking the central point of the cross section of the pipeline as an origin, taking the axial direction of the pipeline as the z-axis direction, taking the vertical upward direction as the x-axis, and enabling the y-axis to be vertical to the x-axis and the z-axis, so as to complete the establishment of a global coordinate system { W } of the pipeline;
the robot centroid is taken as an origin, the advancing direction of the robot is taken as a z-axis direction, a plane vertical to the top of the robot is taken as an x-axis, and a y-axis is vertical to the x-axis and the z-axis, so that the establishment of a robot centroid coordinate system { M } is completed.
Determining the position of the wall-climbing robot in the pipeline through the relative change of the pipeline global coordinate system { W } and the robot centroid coordinate system { M }; assume that at the instant t+t of the instant t, the coordinate transformation pose vector of the robot centroid coordinate system { M } is u= [ x y z phi ] x φ y φ z ] T The following steps are:
wherein (x, y, z) and (phi) x ，φ y ，φ z ) The displacement and the rotation angle around the x, y and z axes of the centroid coordinate system { M } of the robot are respectively represented,
and />
Respectively a robot centroid coordinate system { M } is in a robot centroid instantaneous coincidence coordinate system +.>
A velocity component and an angular velocity component.
According to the position of the passive flexible joint of the wall climbing robot and the high-pair contact of the magnetic wheel and the pipe wall, a body coordinate system of the wall climbing robot and a contact coordinate system of the magnetic wheel and the pipe wall are established by adopting a Sheth-Uicker method, as shown in a robot body coordinate system shown in fig. 3 and a wheel-wall contact coordinate system shown in fig. 4;
a robot body coordinate system, comprising: a body coordinate system of a wall climbing robot comprising: robot centroid coordinate system { M }, yaw coordinate system { F }, and method for manufacturing the same 1 Roll coordinate system { F } 2 { O of wheel center coordinate system }, a method of generating a coordinate signal i (i＝1，2，3，4)}；
Yaw coordinate system { F 1 Established on the yaw axis 302 of the passive compliance system 3, zF thereof 1 Axis coincides with yaw axis 302, xF 1 The axis is parallel to the roll axis 303;
roll coordinate system { F 2 Established on the roll shaft 303 of the passive compliance system 3, zF thereof 2 The axis coincides with the roll axis 303, yF 2 The shaft is parallel to the left and right front magnetic wheel supporting shafts;
the wheel center coordinate system { O i (i=1, 2,3, 4) } coincides with the center of the attraction magnet wheel 523, yO i The axis coincides with the magnetic wheel supporting axis, zO i The shaft points to the advancing direction of the adsorption magnetic wheel 523; wherein i is the serial number of the corresponding adsorption magnetic wheel 523;
the contact coordinate system of the plurality of magnetic attraction wheels 523 and the pipe wall is:
wheel wall contact coordinate System { P i (i=1, 2,3, 4) } coincides with the wheel wall contact point, yP i The axis pointing to the centre of the magnetic wheel zP i Pointing to the tangential direction of the wheel wall; wherein i is the corresponding magnetic wheel sequence number;
robot mass center instantaneous coincidence coordinate system
Coinciding with the instantaneous moment of the robot mass center coordinate system { M } at the moment t; wheel wall contact instantaneous coincidence coordinate system>
Contact coordinate System with wheel wall { P i The instant instants at time t coincide.
In the step 4), according to the transformation relation between the coordinate systems of the body of the wall climbing robot, a kinematic model of the wall climbing robot in a curved surface environment of a pipeline is obtained, and the method specifically comprises the following steps:
according to the structural characteristics of the robot body and the pipeline, a wheel wall contact coordinate system { P } is obtained i (i=1, 2,3, 4) } instantaneous coincidence coordinate system with respect to wheel wall contact
Derivative +.about.of the homogeneous change matrix at time t>
The method comprises the following steps:
where R' represents the relative radius of curvature, R represents the radius of the attraction magnet wheel 523,
represents the angular velocity of the attracting magnetic wheel 523, +.>
The change rate of the geometric contact angle of the adsorption magnetic wheel 523 and the wall surface is represented, and a coordinate transformation matrix of a body coordinate system of the wall climbing robot is obtained through the relevant structural size of the robot and the yaw angle and the roll angle of the passive compliance system 3;
as shown in fig. 5, a coordinate transformation relationship diagram of the coordinate system of the wall climbing robot according to the present invention is shown, and a coordinate system { M } of a robot centroid coordinate system at time t relative to a robot centroid instantaneous overlapping coordinate system is obtained according to the transformation relationship between the body coordinate system of the wall climbing robot and the contact coordinate system of the plurality of adsorption magnetic wheels 523 and the pipe wall
Is the relation of (1), namely:
after deriving the two sides of the equation, the method is obtained according to the matrix inverse operation and differential operation principles:
wherein ,θfi (i=1, 2) yaw and roll angles, respectively, D i (i=1, 2,3, 4) are jacobian matrices of four magnetic wheels 6×4 respectively, and the formula (5) is combined to obtain a kinematic model of the wall-climbing robot in the curved surface environment of the pipeline:
wherein ,
the method comprises the steps of driving a driving speed vector of the adsorption magnetic wheel i, and changing rate of a rotation angle and changing rate of a geometric contact angle of a wheel wall of the passive compliance system 3; rotation angle θ of passive compliance system 3 f1 and θf2 Obtained by a detection sensing system 2, the geometric contact angle delta of the wheel wall i Acquiring a geometric constraint relation between a robot mechanism and a wall surface; d (D) i The matrix is a jacobian matrix for adsorbing the magnetic wheel i and is a known matrix; />
The matrix is the pose change rate and comprises the change of the mass center of the robot and three angle rotation changes; namely: />
Middle->
Three position changes and
three angle changes;
in step 5), it can be seen that the driving speed of each of the adsorption magnet wheels 523 of the wall climbing robot is determined based on the pose change rate
Namely:
will be maleObtained in formula (6)
Substituted into formula (5),
can also give +.>
Three parameters, finally only the rotational speed of the four magnetic wheels of the robot is unknown, i.e. +.>
These four parameters can be found according to equation (5), i.e. the rotational speeds of the four magnetic wheels of the robot are obtained +.>
According to the wheel type wall climbing robot motion control method for the high-curvature pipe diameter surface, aiming at the characteristic of the pipe high-curvature wall surface, the speed can be reasonably distributed to four magnetic wheels through the control system based on the curved surface kinematic model, the phenomenon of mismatching of motor speeds when the wall climbing robot walks on the pipe curved surface is effectively avoided, and the accurate control of the robot pipe curved surface motion is facilitated.
The foregoing description is only a preferred embodiment of the present invention, and is not intended to limit the present invention, and any simple modification, variation and equivalent structural changes made to the above embodiment according to the technical substance of the present invention still fall within the scope of the technical solution of the present invention.
Claims (10)
1. The wheeled wall climbing robot facing the high-curvature pipe diameter surface is characterized by comprising a robot control system (1), a detection sensing system (2), a passive compliance system (3), a robot frame (4) and a driving system (5), wherein the passive compliance system (3) and the robot control system (1) are respectively arranged at the front end and the rear end of the robot frame (4), and the passive compliance system (3) has the freedom degree of rolling and yawing;
the driving system (5) comprises a right front wheel driving device (51), a left front wheel driving device (52), a right rear wheel driving device (53) and a left rear wheel driving device (54), wherein the right front wheel driving device (51) and the left front wheel driving device (52) are arranged below the passive compliant system (3), and the right rear wheel driving device (53) and the left rear wheel driving device (54) are arranged below the rear end of the robot frame (4);
the detection sensing system (2) is arranged on the passive compliance system (3) and the robot frame (4), the detection sensing system (2) is used for detecting pose information of the robot frame (4) and rolling and yaw information of the passive compliance system (3) and feeding back the information to the robot control system (1), and the robot control system (1) controls the speed of the driving system (5).
2. The wheeled wall climbing robot facing the high curvature pipe diameter surface according to claim 1, wherein the passive compliant system (3) comprises a return spring (301), a yaw shaft (302), a roll shaft (303), a mounting base (304) and an upper connecting flange, wherein the roll shaft (303) is rotatably mounted on the mounting base (304), one end of the yaw shaft (302) is vertically connected with the roll shaft (303), the other end of the yaw shaft (302) is rotatably connected with the upper connecting flange, the upper connecting flange is connected with the mounting base (304) through two return springs (301) symmetrically arranged at two sides of the roll shaft (303), and the upper connecting flange is connected with the robot frame (4).
3. The wheeled wall climbing robot facing a high curvature pipe diameter surface according to claim 1, wherein the detection sensing system (2) comprises: the system comprises an inclination angle sensing unit (21) and two angle sensor units (22), wherein the inclination angle sensing unit (21) is arranged at the center of the robot frame (4) and is used for feeding back an included angle between a robot and a pipeline bus;
two angle sensor units (22) are respectively arranged on the yaw shaft (302) and the roll shaft (303) and are used for feeding back angle parameters which are relatively rotated by taking the central axes of the yaw shaft (302) and the roll shaft (303) as the center and providing the angle parameters for the robot control system (1);
the tilt sensing unit (21) comprises a gyroscope and an accelerometer.
4. The wheeled wall climbing robot facing the high curvature pipe diameter surface according to claim 1, wherein a front driving device mounting seat is arranged below the passive compliant system (3), and the right front wheel driving device (51) and the left front wheel driving device (52) are symmetrically arranged on the front driving device mounting seat;
the rear end of the robot frame (4) is provided with a rear driving device mounting seat, and the right rear wheel driving device (53) and the left rear wheel driving device (54) are symmetrically arranged on the rear driving device mounting seat.
5. The wheel type wall climbing robot facing to the high curvature pipe diameter surface according to claim 4, wherein the right front wheel driving device (51), the left front wheel driving device (52), the right rear wheel driving device (53) and the left rear wheel driving device (54) have the same structure, and each wheel type wall climbing robot comprises a brushless direct current motor (521), a multi-stage gear transmission mechanism (522) and an adsorption magnetic wheel (523), wherein an output end of the brushless direct current motor (521) is connected with the adsorption magnetic wheel (523) through the multi-stage gear transmission mechanism (522), and the adsorption magnetic wheel (523) is rotatably arranged at the lower end of a front driving device mounting seat or a rear driving device mounting seat;
the front driving device mounting seat and the rear driving device mounting seat have the same structure and comprise a motor accommodating cavity at the upper part and gear boxes arranged at two ends of the motor accommodating cavity, the brushless direct current motor (521) is accommodated in the motor accommodating cavity, and the multi-stage gear transmission mechanism (522) is accommodated in the gear boxes;
the multistage gear transmission mechanism (522) comprises a gear A (5223), a gear B (5224) and a gear C (52210) which are sequentially meshed from top to bottom, wherein the gear A (5223) is arranged on the output shaft of the brushless direct current motor (521), the gear B (5224) is rotatably mounted on the front driving device mounting seat or the rear driving device mounting seat, and the gear C (52210) is arranged on a magnetic wheel supporting shaft (52212) of the adsorption magnetic wheel (523).
6. The motion control method of the wheeled wall climbing robot facing the high-curvature pipe diameter surface is characterized by comprising the following steps of:
1) Constructing a pipeline global coordinate system { W } of a pipeline where the wall climbing robot is located and a robot mass center coordinate system { M };
2) Determining the position of the wall-climbing robot in the pipeline through the relative change of the pipeline global coordinate system { W } and the robot centroid coordinate system { M };
3) According to the position of the passive compliance system (3) of the wall climbing robot and the point contact positions of the plurality of adsorption magnetic wheels (523) and the pipe wall, a body coordinate system of the wall climbing robot and a contact coordinate system of the plurality of adsorption magnetic wheels (523) and the pipe wall are established;
4) Acquiring a kinematic model of the wall climbing robot in a pipeline curved surface environment according to a transformation relation between the coordinate systems of the body of the wall climbing robot;
5) According to the kinematic model, the pose change rate of the robot body in a reference coordinate system is obtained, and the driving speed of each adsorption magnetic wheel (523) of the wall-climbing robot is determined according to the pose change rate
Thereby realizing the motion control of the wall climbing robot.
7. The method for controlling the motion of the wheeled wall climbing robot facing the high curvature pipe diameter surface according to claim 6, wherein the step 1) is specifically:
taking the central point of the cross section of the pipeline as an origin, taking the axial direction of the pipeline as the z-axis direction, taking the vertical upward direction as the x-axis, and enabling the y-axis to be vertical to the x-axis and the z-axis, so as to complete the establishment of a global coordinate system { W } of the pipeline;
the robot centroid is taken as an origin, the advancing direction of the robot is taken as a z-axis direction, a plane vertical to the top of the robot is taken as an x-axis, and a y-axis is vertical to the x-axis and the z-axis, so that the establishment of a robot centroid coordinate system { M } is completed.
8. The method for controlling the motion of the wheeled wall climbing robot facing the high curvature pipe diameter surface according to claim 6, wherein the step 2) is specifically:
assume thatAt the instant t+Δt of the instant t, the coordinate transformation pose vector of the robot centroid coordinate system { M } is u= [ x y z phi ] x φ y φ z ] T The following steps are:
wherein (x, y, z) and (phi) x ，φ y ，φ z ) The displacement and the rotation angle around the x, y and z axes of the centroid coordinate system { M } of the robot are respectively represented,
and />
Respectively a robot centroid coordinate system { M } is in a robot centroid instantaneous coincidence coordinate system +.>
A velocity component and an angular velocity component.
9. The method for controlling the motion of the wheeled wall climbing robot facing the high curvature pipe diameter surface according to claim 6, wherein the step 3) is specifically:
assuming that the adsorption magnetic wheel (523) is simplified into a rigid disc, the contact between the adsorption magnetic wheel (523) and the pipe wall is point contact, a body coordinate system of the wall climbing robot is established through a Sheth-Uicker method, and the contact coordinate systems of the adsorption magnetic wheels (523) and the pipe wall are as follows:
the body coordinate system of wall climbing robot includes: robot centroid coordinate system { M }, yaw coordinate system { F }, and method for manufacturing the same 1 Roll coordinate system { F } 2 { O of wheel center coordinate system }, a method of generating a coordinate signal i (i＝1，2，3，4)}；
The saidYaw coordinate system { F 1 Established on the yaw axis (302) of the passive compliance system (3), zF thereof 1 The axis coincides with the yaw axis (302), xF 1 The axis is parallel to the roll axis (303);
the abscissa { F } 2 Established on the roll shaft (303) of the passive compliant system (3), zF thereof 2 The axis coincides with the roll axis (303), yF 2 The shaft is parallel to the left and right front magnetic wheel supporting shafts;
the wheel center coordinate system { O i (i=1, 2,3, 4) } coincides with the center of the adsorption magnet wheel (523), yO i The axis coincides with the magnetic wheel supporting axis, zO i The shaft points to the advancing direction of the adsorption magnetic wheel (523); wherein i is the serial number of the corresponding adsorption magnetic wheel (523);
the contact coordinate system of the plurality of adsorption magnetic wheels (523) and the pipe wall is as follows:
wheel wall contact coordinate System { P i (i=1, 2,3, 4) } coincides with the wheel wall contact point, yP i The axis pointing to the centre of the magnetic wheel zP i Pointing to the tangential direction of the wheel wall; wherein i is the corresponding magnetic wheel sequence number;
robot mass center instantaneous coincidence coordinate system
Coinciding with the instantaneous moment of the robot mass center coordinate system { M } at the moment t; wheel wall contact instantaneous coincidence coordinate system>
Contact coordinate System with wheel wall { P i The instant instants at time t coincide.
10. The method for controlling the motion of the wheeled wall climbing robot facing the high curvature pipe diameter surface according to claim 6, wherein the steps 4) to 5) are specifically:
according to the structural characteristics of the robot body and the pipeline, a wheel wall contact coordinate system { P } is obtained i (i=1, 2,3, 4) } instantaneous coincidence coordinate system with respect to wheel wall contact
Derivative +.about.of the homogeneous change matrix at time t>
The method comprises the following steps:
wherein R' represents the relative radius of curvature, R represents the radius of the attracting magnetic wheel (523),
represents the angular velocity of the attracting magnetic wheel (523), & lt->
The change rate of the geometric contact angle of the adsorption magnetic wheel (523) and the wall surface is represented, and a coordinate transformation matrix of a body coordinate system of the wall climbing robot is obtained through the relevant structural size of the robot and the yaw angle and the roll angle of the passive compliance system (3);
obtaining a robot mass center coordinate system { M } relative to a robot mass center instantaneous superposition coordinate system at the moment t through a body coordinate system of the wall climbing robot and a transformation relation between a plurality of adsorption magnetic wheels (523) and a contact coordinate system of the pipe wall
Is the relation of (1), namely:
after deriving the two sides of the equation, the method is obtained according to the matrix inverse operation and differential operation principles:
wherein ,θfi (i=1, 2) yaw and roll angles, respectively, D i (i=1, 2,3, 4) are four magnetic wheels respectivelyAnd (3) combining the formula (5) by using a 6 multiplied by 4 jacobian matrix to obtain a kinematic model of the wall-climbing robot in the curved surface environment of the pipeline:
wherein ,
the method comprises the steps of driving a driving speed vector of an adsorption magnetic wheel i, and changing the rate of the rotation angle and the changing rate of the geometric contact angle of a wheel wall of a passive compliance system (3); rotation angle theta of passive compliance system (3) f1 and θf2 Obtained by a detection sensing system (2), the geometric contact angle delta of the wheel wall i Acquiring a geometric constraint relation between a robot mechanism and a wall surface; d (D) i The matrix is a jacobian matrix for adsorbing the magnetic wheel i and is a known matrix; />
The matrix is the pose change rate and comprises the change of the mass center of the robot and three angle rotation changes; namely: />
Middle->
Three position changes and
three angle changes;
determining the driving speed of each adsorption magnetic wheel (523) of the wall-climbing robot according to the pose change rate
Namely:
the method obtained in the formula (6)
Substituting into the formula (5) to obtain four magnetic fields of the robotWheel speed->
/>
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| CN117775130A (en) * | 2024-02-26 | 2024-03-29 | 湖南千智机器人科技发展有限公司 | Walking chassis, control method of walking chassis and application method |
| CN117775130B (en) * | 2024-02-26 | 2024-05-17 | 湖南千智机器人科技发展有限公司 | Walking chassis, control method of walking chassis and application method |
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| CN117775130A (en) * | 2024-02-26 | 2024-03-29 | 湖南千智机器人科技发展有限公司 | Walking chassis, control method of walking chassis and application method |
| CN117775130B (en) * | 2024-02-26 | 2024-05-17 | 湖南千智机器人科技发展有限公司 | Walking chassis, control method of walking chassis and application method |
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