WO2023137939A1 - Method for controlling movement trajectory of mobile device on circular pipe - Google Patents

Method for controlling movement trajectory of mobile device on circular pipe Download PDF

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Publication number
WO2023137939A1
WO2023137939A1 PCT/CN2022/095282 CN2022095282W WO2023137939A1 WO 2023137939 A1 WO2023137939 A1 WO 2023137939A1 CN 2022095282 W CN2022095282 W CN 2022095282W WO 2023137939 A1 WO2023137939 A1 WO 2023137939A1
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mobile device
arc length
theoretical
axis
points
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PCT/CN2022/095282
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French (fr)
Chinese (zh)
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张泽清
徐振峰
李桐
朱东明
梁辉
高波
余蓓蓓
占美杰
赵刚
梅建峰
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中铁九桥工程有限公司
中铁高新工业股份有限公司
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Publication of WO2023137939A1 publication Critical patent/WO2023137939A1/en

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    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00—Programme-control systems
    • G05B19/02—Programme-control systems electric
    • G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
    • G05B19/404—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by control arrangements for compensation, e.g. for backlash, overshoot, tool offset, tool wear, temperature, machine construction errors, load, inertia
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/04—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by terrestrial means
    • G01C21/06—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by terrestrial means involving measuring of drift angle; involving correction for drift
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D3/00—Control of position or direction
    • G05D3/12—Control of position or direction using feedback

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  • the invention relates to the technical field of motion trajectory control, in particular to a method for controlling the motion trajectory of a mobile device on a circular pipe.
  • the mobile device moves around the circular pipe at a fixed angle to the pipe axis, and its theoretical trajectory is an ellipse.
  • its theoretical trajectory is an ellipse.
  • due to the limitations of on-site installation conditions and mechanical movement wear it is impossible to ensure that the running direction of the mobile device and the axis of the circular pipe are always maintained at a preset angle, so that the actual trajectory of the walking deviates greatly from the theoretical ellipse, and it is impossible to accurately control the movement trajectory of the mobile device on the circular pipe.
  • the present invention aims to propose a method for controlling the movement trajectory of a mobile device on a circular pipe, so as to solve the technical problem that the movement trajectory of the mobile device on the circular pipe cannot be accurately controlled and the deviation is large.
  • a method for controlling the movement trajectory of a mobile device on a circular pipe comprising the following steps:
  • the mobile device travels at a preset deflection angle relative to the axis of the circular pipe, and establishes a theoretical elliptic equation of the movement track of the mobile device on the circular pipe, wherein the major axis of the ellipse is on the X axis, and the minor axis of the ellipse is on the Y axis;
  • the mobile device since the mobile device walks on the circular pipe at a preset deflection angle relative to the circular pipe axis, its theoretical trajectory is an ellipse.
  • the instantaneous movement direction of the mobile device is the same, and the arc length of two points on the theoretical trajectory is calculated to be the theoretical arc length of any two points in the real-time walking process of the mobile device; then the actual arc length of the mobile device is measured; the deviation between the theoretical arc length and the actual arc length is continuously corrected until they are consistent.
  • the real-time correction of the trajectory of the mobile device on the circular tube can be realized, and the trajectory control accuracy can be improved.
  • the actual arc length of the mobile device is measured using a first encoder, and the first encoder is arranged on the traveling wheel of the mobile device; the deflection angle of the traveling direction of the mobile device relative to the axis of the circular tube is measured using a second encoder, and the second encoder is arranged on the direction motor of the traveling wheel.
  • the theoretical elliptic equation is:
  • the semi-minor axis of the ellipse b the radius R of the circular tube, the semi-major axis of the ellipse ⁇ is the deflection angle value measured by the second encoder.
  • the angle between the motion direction of the mobile device at the two selected points and the X-axis is measured by an inclination sensor.
  • said calculating the theoretical arc length between the selected two points includes the following steps:
  • said step of calculating the theoretical arc length between the selected two points according to the coordinates of the selected two points includes:
  • the theoretical movement track of the mobile device on the circular pipe is a perfect circle.
  • the theoretical arc length between the two points selected for said calculation is: Wherein ⁇ 1 and ⁇ 2 are angles between the moving directions of the mobile device at the two selected points with respect to the X axis respectively.
  • adjusting the deflection angle of the mobile device relative to the axis of the circular tube includes the following steps:
  • a magnet is arranged inside the traveling wheel, and the round pipe is a steel pipe or an iron pipe.
  • FIG. 1 is a flow chart of a method for controlling a movement track of a mobile device on a circular pipe according to an embodiment of the present invention
  • FIG. 2 is a front view of the mobile device moving on the circular pipe according to the embodiment of the present invention.
  • FIG. 3 is a schematic structural diagram of a mobile device according to an embodiment of the present invention.
  • FIG. 4 is a top view of a mobile device moving on a circular pipe according to an embodiment of the present invention.
  • Fig. 5 is a schematic diagram of a movement trajectory of a mobile device according to an embodiment of the present invention.
  • first and second mentioned in the embodiments of the present invention are only used for description purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the quantity of indicated technical features. Thus, a feature defined as “first” and “second” may explicitly or implicitly include one or more of these features.
  • a coordinate system XY is set, wherein the X axis is the direction shown by the short axis of the ellipse, that is, the diameter of the circular tube, and the Y axis is the direction shown by the long axis of the ellipse.
  • the length of the motion track 3 of the mobile device 1 on the circular pipe 2 can generally be calculated by counting the pulses of the encoder.
  • the first method can be to set a rack on the circular tube and a running gear on the mobile device.
  • the purpose of controlling the mobile device to move according to the predetermined trajectory is achieved through the mutual meshing of the gear and rack.
  • the direction is specified, but with the passage of time, the progress of the walking process, the wear and tear between the equipment and the actual installation conditions make the walking direction of the mobile equipment gradually deviate from the specified direction, and the movement trajectory has a large deviation.
  • the method for controlling the movement trajectory of a mobile device on a circular pipe includes the following steps:
  • the mobile device 1 travels at a preset deflection angle relative to the axis of the circular tube 2, and establishes a theoretical ellipse equation of the motion track 3 of the mobile device 1 on the circular tube 2, wherein the major axis of the ellipse is on the X axis and the minor axis of the ellipse is on the Y axis.
  • the mobile device 1 includes a traveling wheel 11, a direction motor 12, a control box 13 and a power supply 14, the direction motor 12 drives and connects the traveling wheel 11 to control the walking direction of the traveling wheel 11, the control box 13 controls the direction motor 12 to start and stop, and the power supply 14 supplies power to the control box 13.
  • the mobile device 1 is placed on the circumferential side wall of the round pipe 2 , and the running wheels 11 of the mobile device 1 can move along the circumferential side wall of the round pipe 2 .
  • the traveling wheel 11 of the mobile device 1 is in vertical contact with the circumferential side wall of the round tube 2 at the beginning, and the moving direction of the traveling wheel 11 is at a preset deflection angle with the axis of the round tube 2, where the deflection angle is ⁇ 90°.
  • the mobile device 1 keeps walking at a preset deflection angle with the axis of the round tube 2, and its trajectory is an ellipse.
  • the short axis of the ellipse is the radius of the round tube. related.
  • the motion trajectory of the mobile device 1 is shown in Figures 4-5.
  • the X-axis is established by the straight line where the major axis of the ellipse is located, and the Y-axis is established by the straight line where the minor axis of the ellipse is located.
  • the point where the major axis and the minor axis of the ellipse intersect is the coordinate origin.
  • the established coordinate system is shown in Figure 5.
  • the deflection angle is 90°
  • the major axis and the minor axis of the ellipse are equal to the radius of the circular tube 2
  • the theoretical motion trajectory 3 is a special ellipse, that is, a perfect circle; when 0° ⁇ deflection angle ⁇ 90°, the theoretical motion trajectory of the mobile device 1 is an ellipse. , the flatter the ellipse is.
  • S2 Select any two points in the actual walking process of the mobile device 1, measure the angle between the motion direction of the mobile device 1 at the two selected points relative to the X axis, and calculate the theoretical arc length between the selected two points in combination with the theoretical elliptic equation.
  • any two points F 1 and F 2 during the walking process of the mobile device 1.
  • the instantaneous motion direction of the mobile device 1 at points F 1 and F 2 is the direction shown by the line tangent to the ellipse in FIG . Regardless of whether the two points F 1 and F 2 are on the theoretical trajectory or not, two points can always be found on the theoretical trajectory whose tangent direction to the theoretical trajectory is the same as the instantaneous motion direction of points F 1 and F 2 .
  • the calculation of the theoretical arc length between the selected two points includes the following steps:
  • the formula with the formula Simultaneously form a system of equations, in which a and b are related to the deflection angle ⁇ and the radius R of the circular tube can be calculated, and the angles ⁇ 1 and ⁇ 2 between the instantaneous direction of motion of the mobile device 1 at points F 1 and F 2 and the X-axis are substituted into the above equations, and the coordinates (X1, Y1) and (X2, Y2) of points F 1 and F 2 can be solved by the simultaneous equations.
  • the interval between the angles ⁇ 1 and ⁇ 2 between the motion directions of the selected two points relative to the X-axis is divided into multiple sub-sections, and the step S22 is repeated to calculate the coordinates of the two ends of each sub-section in turn, and then calculate the straight-line distance between the two coordinates, and add them up segment by segment to obtain the theoretical arc length between the selected two points.
  • the interval between ⁇ 1 and ⁇ 2 is equally divided into 10,000 small intervals, and the angle values corresponding to the two ends of the first small interval are ⁇ 1 , Repeat step S22 to set ⁇ 1 , These two angle values are substituted into the equation system, and the ⁇ 1 , The coordinates corresponding to these two points, and then calculate the straight-line distance between the two points according to the straight-line distance formula between the two points; the angle corresponding to the two ends of the angle between the second cell is and Use the same method to calculate the coordinates corresponding to these two points, and then calculate the second straight - line distance ; repeat the above operation, calculate the distance between the two ends of different intervals in turn, and sum the 10,000 straight-line distances, which is approximately equal to the theoretical arc length corresponding to the two points F 1 and F 2 .
  • the actual arc length of the mobile device 1 is the measured distance between the two selected points.
  • the arc length between points A 1 and A 2 is greater than the arc length between points A 1 ' and A 2 ' , that is , when the moving car turns at the same angle relative to the horizontal direction, the smaller ⁇ is, the longer the theoretical arc length of the mobile device will be.
  • the mobile device 1 moves under the condition that the included angle ⁇ is 30°, it is measured that the included angle relative to the horizontal direction is 5° at the A 1 point, and 50° relative to the horizontal direction at the A 2 point, and the theoretical arc length between points A 1 and A 2 is calculated as L 1 ; At point 2 ', the angle relative to the horizontal direction is 50°, and the theoretical arc length between points A 1 ' and A 2 ' is calculated to be L 2 , then L 1 >L 2 .
  • the deflection angle of the actual travel direction of the mobile device 1 relative to the axis of the circular tube is smaller than the preset deflection angle.
  • the deflection angle of the mobile device 1 needs to be increased.
  • the method of observing while debugging can be adopted until the actual arc length is consistent with the theoretical arc length, thus realizing the control of the movement track of the mobile device 1 on the circular tube 2 .
  • the actual arc length of the mobile device 1 is measured by the first encoder 4, and the first encoder 4 is arranged on the traveling wheel 11 of the mobile device 1; the deflection angle of the traveling direction of the mobile device 1 relative to the axis of the circular tube 2 is measured by the second encoder 5, and the second encoder 5 is arranged on the direction motor 12 of the traveling wheel 11.
  • the first encoder 4 is a high-precision encoder, which is used to measure the actual arc length of the mobile device, which is convenient for comparison with the calculated theoretical arc length for trajectory correction;
  • the second encoder 5 is an absolute value encoder, which measures the deflection angle of the running direction of the running wheel 11 relative to the axis of the circular tube 2, and when there is a deviation between the actual trajectory and the theoretical trajectory, start the direction motor 12 to adjust the deflection angle of the running wheel 11.
  • the angle between the motion direction of the mobile device 1 at the two selected points and the X-axis is measured by the inclination sensor 6 .
  • the inclination sensor 6 can realize fast angle measurement.
  • magnets are arranged inside the traveling wheel 11, and the round pipe 2 is a steel pipe or an iron pipe.
  • the running wheel 11 with a magnet is used to move on the steel pipe or iron pipe, and the magnetic attraction between the magnet and the steel pipe can be used to make the running wheel 11 adsorb on the round pipe 2, so as to avoid the problem that the actual arc length measured by the first encoder 4 has an error due to slipping and idling during the running process of the mobile device 1.
  • the moving track of the mobile device on the round tube can be controlled by the above-mentioned control method of the moving track of the mobile device on the round tube, and it can be applied to the cutting and positioning of the round tube, for example, an ellipse section needs to be cut on the round tube; or it can be used to measure the arc of the round tube.
  • the mobile device moves on the arc surface of the round tube to be measured in a direction of 90° to the axis of the round tube, and compares the actual running length measured by the moving track encoder with the theoretical arc length calculated by using the angle change (the method shown in S21-S23 above).

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Abstract

The present invention relates to the technical field of movement trajectory control. Provided is a method for controlling a movement trajectory of a mobile device on a circular pipe. The method for controlling a movement trajectory of a mobile device on a circular pipe comprises the following steps: S1, making a mobile device travel at a preset deflection angle relative to the axis of a circular pipe, and establishing a theoretical ellipse equation of a movement trajectory of the mobile device on the circular pipe, wherein the major axis of the ellipse is on an X axis, and the minor axis thereof is on a Y axis; S2, selecting any two points in an actual travelling process of the mobile device, measuring an included angle between the X axis and the direction in which the mobile device moves between the two selected points, and calculating a theoretical arc length between the two selected points in combination with the theoretical ellipse equation; and S3, comparing the calculated theoretical arc length with an actual arc length by which the mobile device travels, and if there is a deviation between the actual arc length and the theoretical arc length, adjusting the deflection angle of the mobile device relative to the axis of the circular pipe. The method for controlling a movement trajectory of a mobile device on a circular pipe can effectively control a travelling trajectory of a mobile device.

Description

一种移动设备在圆管上运动轨迹的控制方法A method for controlling the motion trajectory of mobile equipment on a circular pipe 技术领域technical field
本发明涉及运动轨迹控制技术领域，具体而言，涉及一种移动设备在圆管上运动轨迹的控制方法。The invention relates to the technical field of motion trajectory control, in particular to a method for controlling the motion trajectory of a mobile device on a circular pipe.
背景技术Background technique
移动设备在圆管上以与圆管轴线保持一个固定角度绕着圆管进行移动，其理论运动轨迹是椭圆，但是由于现场安装工况限制及机械运动磨损的原因，无法保证移动设备运行方向与圆管轴线一直保持在预先设定的角度，使得走行的实际轨迹与理论椭圆偏差较大，无法实现对移动设备在圆管上运动轨迹的精确控制。The mobile device moves around the circular pipe at a fixed angle to the pipe axis, and its theoretical trajectory is an ellipse. However, due to the limitations of on-site installation conditions and mechanical movement wear, it is impossible to ensure that the running direction of the mobile device and the axis of the circular pipe are always maintained at a preset angle, so that the actual trajectory of the walking deviates greatly from the theoretical ellipse, and it is impossible to accurately control the movement trajectory of the mobile device on the circular pipe.
发明内容Contents of the invention
本发明旨在提出一种移动设备在圆管上运动轨迹的控制方法，以解决移动设备在圆管上运动轨迹无法准确控制，偏差大的技术问题。The present invention aims to propose a method for controlling the movement trajectory of a mobile device on a circular pipe, so as to solve the technical problem that the movement trajectory of the mobile device on the circular pipe cannot be accurately controlled and the deviation is large.
为达到上述目的，本发明的技术方案是这样的：To achieve the above object, the technical solution of the present invention is as follows:
一种移动设备在圆管上运动轨迹的控制方法，包括以下步骤：A method for controlling the movement trajectory of a mobile device on a circular pipe, comprising the following steps:
S1：移动设备以相对圆管轴线呈预设偏转角度进行走行，建立所述移动设备在所述圆管上运动轨迹的理论椭圆方程，其中椭圆长轴在X轴上，椭圆短轴在Y轴上；S1: The mobile device travels at a preset deflection angle relative to the axis of the circular pipe, and establishes a theoretical elliptic equation of the movement track of the mobile device on the circular pipe, wherein the major axis of the ellipse is on the X axis, and the minor axis of the ellipse is on the Y axis;
S2：选取所述移动设备在实际走行过程中的任意两点，测量所述移动设备在所选两点时的运动方向相对X轴的夹角，结合所述理论椭圆方程，计算所选两点之间的理论弧长；S2: Select any two points in the actual walking process of the mobile device, measure the angle between the motion direction of the mobile device at the selected two points relative to the X axis, and calculate the theoretical arc length between the selected two points in combination with the theoretical elliptic equation;
S3：将计算的所述理论弧长与所述移动设备的实际弧长进行对比，若所述实际弧长与所述理论弧长存在偏差，则调整所述移动设备相对所述圆管轴线的偏转角度。S3: Comparing the calculated theoretical arc length with the actual arc length of the mobile device, if there is a deviation between the actual arc length and the theoretical arc length, adjusting the deflection angle of the mobile device relative to the axis of the circular tube.
本发明所述的移动设备在圆管上运动轨迹的控制方法，由于移动设备在圆管上以相对圆管轴线呈预设偏转角度走行其理论轨迹是椭圆，椭圆的长短轴与预设偏转角度、圆管直径相关，建立该理论椭圆方程；通过测量移动设备在实时行走过程中任意两点的瞬时运动方向相对水平方向也即X轴的夹角，无论移动设备运行到这两点时其是否在理论轨迹上，在理论轨迹上总能 找到两个点其切线方向与该移动设备的瞬时运动方向相同，计算理论轨迹上两点的弧长即为移动设备实时走行过程中任意两点的理论弧长；再测量移动设备的实际弧长；不断校正理论弧长与实际弧长之间的偏差，直至趋于一致。采用此种方式即可实现对移动设备在圆管上运动轨迹的实时校正，提高轨迹控制精度。According to the method for controlling the movement trajectory of the mobile device on the circular pipe according to the present invention, since the mobile device walks on the circular pipe at a preset deflection angle relative to the circular pipe axis, its theoretical trajectory is an ellipse. The instantaneous movement direction of the mobile device is the same, and the arc length of two points on the theoretical trajectory is calculated to be the theoretical arc length of any two points in the real-time walking process of the mobile device; then the actual arc length of the mobile device is measured; the deviation between the theoretical arc length and the actual arc length is continuously corrected until they are consistent. In this way, the real-time correction of the trajectory of the mobile device on the circular tube can be realized, and the trajectory control accuracy can be improved.
可选地，所述移动设备的实际弧长采用第一编码器测量，所述第一编码器设于所述移动设备的走行轮上；所述移动设备的走行方向相对于所述圆管轴线的偏转角度采用第二编码器测量，所述第二编码器设于所述走行轮的方向电机上。Optionally, the actual arc length of the mobile device is measured using a first encoder, and the first encoder is arranged on the traveling wheel of the mobile device; the deflection angle of the traveling direction of the mobile device relative to the axis of the circular tube is measured using a second encoder, and the second encoder is arranged on the direction motor of the traveling wheel.
可选地，所述S1中，所述理论椭圆方程为：
Figure PCTCN2022095282-appb-000001
椭圆半短轴b＝圆管半径R，椭圆半长轴
Figure PCTCN2022095282-appb-000002
α为所述第二编码器测量的偏转角度值。 Optionally, in the S1, the theoretical elliptic equation is:
Figure PCTCN2022095282-appb-000001
The semi-minor axis of the ellipse b = the radius R of the circular tube, the semi-major axis of the ellipse
Figure PCTCN2022095282-appb-000002
α is the deflection angle value measured by the second encoder.
可选地，所述S2中，所述移动设备在所选两点时的运动方向相对X轴的夹角采用倾角传感器测量。Optionally, in S2, the angle between the motion direction of the mobile device at the two selected points and the X-axis is measured by an inclination sensor.
可选地，所述S2中，所述计算所选两点之间的理论弧长包括以下步骤：Optionally, in said S2, said calculating the theoretical arc length between the selected two points includes the following steps:
S21：对所述理论方程求导
Figure PCTCN2022095282-appb-000003
结合导数定义y'＝tanθ，得到公式
Figure PCTCN2022095282-appb-000004
其中θ为所述倾角传感器测量的角度值； S21: Deriving the theoretical equation
Figure PCTCN2022095282-appb-000003
Combined with the derivative definition y'=tanθ, the formula is obtained
Figure PCTCN2022095282-appb-000004
Wherein θ is the angle value that described inclination sensor measures;
S22：结合S21中所得公式与所述理论方程，得到所选两点的坐标；S22: Combining the formula obtained in S21 with the theoretical equation to obtain the coordinates of the two selected points;
S23：根据所选两点的坐标计算所选两点之间的所述理论弧长。S23: Calculate the theoretical arc length between the selected two points according to the coordinates of the selected two points.
可选地，所述S23中，所述根据所选两点的坐标计算所选两点之间的理论弧长的步骤包括：Optionally, in said S23, said step of calculating the theoretical arc length between the selected two points according to the coordinates of the selected two points includes:
将所述移动设备在所选两点时运动方向分别相对X轴的夹角θ 1、θ 2之间的区间分成多个小区间，重复所述S22步骤，以依次计算每个小区间两端点的坐标，再计算两坐标之间的直线距离，逐段累加，得到所选两点之间的所述理论弧长。 Divide the interval between the angles θ 1 and θ 2 of the movement direction of the mobile device with respect to the X-axis when the two points are selected into a plurality of sub-sections, repeat the step S22 to sequentially calculate the coordinates of the two ends of each sub-section, then calculate the straight-line distance between the two coordinates, and add them up segment by segment to obtain the theoretical arc length between the selected two points.
可选地，当所述α＝90°时，所述移动设备在所述圆管上的理论运动轨迹为正圆。Optionally, when the α=90°, the theoretical movement track of the mobile device on the circular pipe is a perfect circle.
可选地，所述S2中，所述计算所选两点之间的理论弧长为：
Figure PCTCN2022095282-appb-000005
其中θ 1、θ 2为所述移动设备在所选两点时的运动方向分别相对X轴的夹角。 Optionally, in said S2, the theoretical arc length between the two points selected for said calculation is:
Figure PCTCN2022095282-appb-000005
Wherein θ 1 and θ 2 are angles between the moving directions of the mobile device at the two selected points with respect to the X axis respectively.
可选地，所述S3中，所述若所述实际弧长与所述理论弧长存在偏差，则调整所述移动设备相对所述圆管轴线的偏转角度，包括以下步骤：Optionally, in said S3, if there is a deviation between the actual arc length and the theoretical arc length, adjusting the deflection angle of the mobile device relative to the axis of the circular tube includes the following steps:
若所述实际弧长大于所述理论弧长，则调大所述移动设备相对所述圆管轴线的偏转角度，直至所述实际弧长与所述理论弧长趋于一致；If the actual arc length is greater than the theoretical arc length, increase the deflection angle of the mobile device relative to the axis of the circular tube until the actual arc length tends to be consistent with the theoretical arc length;
若所述实际弧长小于所述理论弧长，则调小所述移动设备相对所述圆管轴线的偏转角度，直至所述实际弧长与所述理论弧长趋于一致。If the actual arc length is smaller than the theoretical arc length, then reduce the deflection angle of the mobile device relative to the axis of the circular tube until the actual arc length tends to be consistent with the theoretical arc length.
可选地，所述走行轮内设有磁铁，所述圆管为钢管或铁管。Optionally, a magnet is arranged inside the traveling wheel, and the round pipe is a steel pipe or an iron pipe.
附图说明Description of drawings
图1为本发明实施例的移动设备在圆管上运动轨迹的控制方法的流程图；FIG. 1 is a flow chart of a method for controlling a movement track of a mobile device on a circular pipe according to an embodiment of the present invention;
图2为本发明实施例的移动设备在圆管上运动的正视图；2 is a front view of the mobile device moving on the circular pipe according to the embodiment of the present invention;
图3为本发明实施例的移动设备的结构示意图；FIG. 3 is a schematic structural diagram of a mobile device according to an embodiment of the present invention;
图4为本发明实施例的移动设备在圆管上运动的俯视图；4 is a top view of a mobile device moving on a circular pipe according to an embodiment of the present invention;
图5为本发明实施例的移动设备的运动轨迹示意图。Fig. 5 is a schematic diagram of a movement trajectory of a mobile device according to an embodiment of the present invention.
附图标记说明：Explanation of reference signs:
1、移动设备；11、走行轮；12、方向电机；13、控制箱；14、电源；2、圆管；3、运动轨迹；4、第一编码器；5、第二编码器；6、倾角传感器。1. Mobile equipment; 11. Traveling wheel; 12. Direction motor; 13. Control box; 14. Power supply; 2. Round tube; 3. Motion trajectory; 4. First encoder; 5. Second encoder; 6. Inclination sensor
具体实施方式Detailed ways
为使本发明的上述目的、特征和优点能够更为明显易懂，下面结合附图对本发明的具体实施例做详细的说明。In order to make the above objects, features and advantages of the present invention more comprehensible, specific embodiments of the present invention will be described in detail below in conjunction with the accompanying drawings.
在本发明的实施例中所提到的术语“第一”、“第二”仅用于描述目的，并不能理解为指示或暗示相对重要性或者隐含指明所指示的技术特征的数量。由此，限定有“第一”、“第二”的特征可以明示或者隐含地包括一个或者更多个该特征。The terms "first" and "second" mentioned in the embodiments of the present invention are only used for description purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the quantity of indicated technical features. Thus, a feature defined as "first" and "second" may explicitly or implicitly include one or more of these features.
本文中设置有坐标系XY，其中X轴为椭圆短轴也即圆管直径所示方向，Y轴为椭圆长轴所示方向。Herein, a coordinate system XY is set, wherein the X axis is the direction shown by the short axis of the ellipse, that is, the diameter of the circular tube, and the Y axis is the direction shown by the long axis of the ellipse.
移动设备1在圆管2上的运动轨迹3长度一般可通过编码器计数脉冲来 计算。现有移动设备1在圆管2上运动轨迹3的方向控制有两种，第一种可采用在圆管上设齿条，在移动设备上设走行齿轮，通过齿轮齿条的相互啮合达到控制移动设备按照预定轨迹运动的目的，但是齿条制造安装精度较高，增加使用成本，而且需要额外设置齿条，增加了应用场景的限制；第二种直接通过方向电机12控制移动设备1走行轮11的行进方向，采用这种方式能保证初始时刻移动设备的走行方向是按照指定方向的，但是随着时间的推移，走行过程的进行，设备之间的磨损及实际的安装工况原因，使得移动设备的走行方向逐渐偏离指定方向，运动轨迹出现较大偏差。The length of the motion track 3 of the mobile device 1 on the circular pipe 2 can generally be calculated by counting the pulses of the encoder. There are two types of direction control for the motion trajectory 3 of the existing mobile device 1 on the circular tube 2. The first method can be to set a rack on the circular tube and a running gear on the mobile device. The purpose of controlling the mobile device to move according to the predetermined trajectory is achieved through the mutual meshing of the gear and rack. The direction is specified, but with the passage of time, the progress of the walking process, the wear and tear between the equipment and the actual installation conditions make the walking direction of the mobile equipment gradually deviate from the specified direction, and the movement trajectory has a large deviation.
如图1所示，本发明实施例的移动设备在圆管上运动轨迹的控制方法，包括以下步骤：As shown in FIG. 1 , the method for controlling the movement trajectory of a mobile device on a circular pipe according to an embodiment of the present invention includes the following steps:
S1：移动设备1以相对圆管2轴线呈预设偏转角度进行走行，建立所述移动设备1在所述圆管2上运动轨迹3的理论椭圆方程，其中椭圆长轴在X轴上，椭圆短轴在Y轴上。S1: The mobile device 1 travels at a preset deflection angle relative to the axis of the circular tube 2, and establishes a theoretical ellipse equation of the motion track 3 of the mobile device 1 on the circular tube 2, wherein the major axis of the ellipse is on the X axis and the minor axis of the ellipse is on the Y axis.
如图2所示，移动设备1包括走行轮11、方向电机12、控制箱13及电源14，方向电机12驱动连接走行轮11用于控制走行轮11的行走方向，控制箱13控制方向电机12启停，电源14给控制箱13供电。As shown in Figure 2, the mobile device 1 includes a traveling wheel 11, a direction motor 12, a control box 13 and a power supply 14, the direction motor 12 drives and connects the traveling wheel 11 to control the walking direction of the traveling wheel 11, the control box 13 controls the direction motor 12 to start and stop, and the power supply 14 supplies power to the control box 13.
在本步骤中，如图2所示，移动设备1置于圆管2的周向侧壁上，移动设备1的走行轮11可沿着圆管2的周向侧壁移动。为了使得移动设备1在圆管2上的运动轨迹3在同一平面上，初始时移动设备1的走行轮11与圆管2周向侧壁垂直接触，走行轮11的运动方向与圆管2轴线呈预设偏转角度，这里的偏转角度≤90°，在忽略外界影响因素的情况下，移动设备1一直保持与圆管2轴线预设偏转角度走行其轨迹为椭圆，椭圆的短轴为圆管的半径，椭圆的长轴与偏转角度、圆管半径有关。In this step, as shown in FIG. 2 , the mobile device 1 is placed on the circumferential side wall of the round pipe 2 , and the running wheels 11 of the mobile device 1 can move along the circumferential side wall of the round pipe 2 . In order to make the moving track 3 of the mobile device 1 on the round tube 2 on the same plane, the traveling wheel 11 of the mobile device 1 is in vertical contact with the circumferential side wall of the round tube 2 at the beginning, and the moving direction of the traveling wheel 11 is at a preset deflection angle with the axis of the round tube 2, where the deflection angle is ≤90°. In the case of ignoring external factors, the mobile device 1 keeps walking at a preset deflection angle with the axis of the round tube 2, and its trajectory is an ellipse. The short axis of the ellipse is the radius of the round tube. related.
所述移动设备1的运动轨迹如图4-5所示，以椭圆的长轴所在直线建立X轴，以椭圆短轴所在直线建立Y轴，椭圆长轴与短轴相交的点即为坐标原点，所建坐标系如图5所示，运动轨迹的理论椭圆方程为：
Figure PCTCN2022095282-appb-000006
其中，椭圆半短轴b＝圆管半径R，椭圆半长轴
Figure PCTCN2022095282-appb-000007
α为所述移动设备1相对圆管2轴线的偏转角度，如图4所示。 The motion trajectory of the mobile device 1 is shown in Figures 4-5. The X-axis is established by the straight line where the major axis of the ellipse is located, and the Y-axis is established by the straight line where the minor axis of the ellipse is located. The point where the major axis and the minor axis of the ellipse intersect is the coordinate origin. The established coordinate system is shown in Figure 5. The theoretical ellipse equation of the motion track is:
Figure PCTCN2022095282-appb-000006
Among them, the semi-minor axis of the ellipse b=the radius R of the circular tube, and the semi-major axis of the ellipse
Figure PCTCN2022095282-appb-000007
α is the deflection angle of the mobile device 1 relative to the axis of the round tube 2 , as shown in FIG. 4 .
这里需要说明的是，移动设备1与圆管2轴线的预设偏转角度越大，其理论椭圆的长轴越短，椭圆越趋于圆，当偏转角度为90°时，椭圆的长轴、短轴相等均为圆管2的半径，理论运动轨迹3是一种特殊的椭圆，即正圆形；当0°＜偏转角度＜90°时，移动设备1的理论运动轨迹是椭圆，移动设备1与圆管2轴线的预设偏转角度越小，其理论椭圆的长轴越长，椭圆也就越扁。What needs to be explained here is that the larger the preset deflection angle between the mobile device 1 and the circular tube 2 axis, the shorter the major axis of the theoretical ellipse, and the closer the ellipse is to a circle. When the deflection angle is 90°, the major axis and the minor axis of the ellipse are equal to the radius of the circular tube 2, and the theoretical motion trajectory 3 is a special ellipse, that is, a perfect circle; when 0°<deflection angle<90°, the theoretical motion trajectory of the mobile device 1 is an ellipse. , the flatter the ellipse is.
S2：选取所述移动设备1在实际走行过程中的任意两点，测量所述移动设备1在所选两点时的运动方向相对X轴的夹角，结合所述理论椭圆方程，计算所选两点之间的理论弧长。S2: Select any two points in the actual walking process of the mobile device 1, measure the angle between the motion direction of the mobile device 1 at the two selected points relative to the X axis, and calculate the theoretical arc length between the selected two points in combination with the theoretical elliptic equation.
在本步骤中，选取移动设备1在走行过程中的任意两点F 1、F 2，所述移动设备1在F 1、F 2点时的瞬时运动方向为图5中与椭圆相切的直线所示方向，测量移动设备1在这两点时的瞬时运动方向分别与X轴(也即水平方向)的夹角为θ 1、θ 2。无论F 1、F 2两点是否在理论轨迹上，在理论轨迹上总能找到两个点其与理论轨迹的切线方向与F 1、F 2点的瞬时运动方向相同，计算理论轨迹上这两个点的弧长即为F 1、F 2两点的理论弧长。 In this step , select any two points F 1 and F 2 during the walking process of the mobile device 1. The instantaneous motion direction of the mobile device 1 at points F 1 and F 2 is the direction shown by the line tangent to the ellipse in FIG . Regardless of whether the two points F 1 and F 2 are on the theoretical trajectory or not, two points can always be found on the theoretical trajectory whose tangent direction to the theoretical trajectory is the same as the instantaneous motion direction of points F 1 and F 2 .
所述计算所选两点之间的理论弧长包括以下步骤：The calculation of the theoretical arc length between the selected two points includes the following steps:
S21：对所述理论方程求导
Figure PCTCN2022095282-appb-000008
结合导数定义y'＝tanθ，得到公式
Figure PCTCN2022095282-appb-000009
其中θ为所述倾角传感器6测量的角度值。 S21: Deriving the theoretical equation
Figure PCTCN2022095282-appb-000008
Combined with the derivative definition y'=tanθ, the formula is obtained
Figure PCTCN2022095282-appb-000009
Wherein θ is the angle value measured by the inclination sensor 6 .
S22：结合S21中所得公式与所述理论方程，得到所选两点的坐标。S22: Combining the formula obtained in S21 with the theoretical equation to obtain the coordinates of the two selected points.
在本步骤中，将公式
Figure PCTCN2022095282-appb-000010
与公式
Figure PCTCN2022095282-appb-000011
联立组成方程组，其中a、b与偏转角度α、圆管半径R相关可计算得出，将移动设备1在F 1、F 2点时的瞬时运动方向与X轴的夹角θ 1、θ 2代入上述方程，联立方程组可解出F 1、F 2点的坐标(X1、Y1)、(X2、Y2)。 In this step, the formula
Figure PCTCN2022095282-appb-000010
with the formula
Figure PCTCN2022095282-appb-000011
Simultaneously form a system of equations, in which a and b are related to the deflection angle α and the radius R of the circular tube can be calculated, and the angles θ 1 and θ 2 between the instantaneous direction of motion of the mobile device 1 at points F 1 and F 2 and the X-axis are substituted into the above equations, and the coordinates (X1, Y1) and (X2, Y2) of points F 1 and F 2 can be solved by the simultaneous equations.
S23：根据所选两点的坐标计算所选两点之间的所述理论弧长。S23: Calculate the theoretical arc length between the selected two points according to the coordinates of the selected two points.
在本步骤中，将所选两点时的运动方向分别相对X轴的夹角θ 1、θ 2之间的区间分成多个小区间，重复所述S22步骤，以依次计算每个小区间两端点的坐标，再计算两坐标之间的直线距离，逐段累加，得到所选两点之间的所述理论 弧长。 In this step, the interval between the angles θ 1 and θ 2 between the motion directions of the selected two points relative to the X-axis is divided into multiple sub-sections, and the step S22 is repeated to calculate the coordinates of the two ends of each sub-section in turn, and then calculate the straight-line distance between the two coordinates, and add them up segment by segment to obtain the theoretical arc length between the selected two points.
示例性地，将θ 1、θ 2之间的区间等分成10000个小区间，第一个小区间两端点对应的角度值为θ 1、
Figure PCTCN2022095282-appb-000012
重复S22步骤，将θ 1、
Figure PCTCN2022095282-appb-000013
这两个角度值代入方程组中，求解出θ 1、
Figure PCTCN2022095282-appb-000014
这两个点所对应的坐标，再根据两点之间的直线距离公式，计算出两点之间的直线距离；第二个小区间角度两端点对应的角度值为
Figure PCTCN2022095282-appb-000015
与
Figure PCTCN2022095282-appb-000016
采用同样的方式计算出这两个点对应的坐标，继而计算第二段直线距离；重复上述操作，依次计算不同区间两端点之间的距离，并将这10000段直线距离加总求和，近似等于F 1、F 2这两点对应的理论弧长，θ 1、θ 2之间的区间分成的小区间数越多，最终计算出的F 1、F 2两点间的理论弧长也就越接近实际弧长。 Exemplarily, the interval between θ 1 and θ 2 is equally divided into 10,000 small intervals, and the angle values corresponding to the two ends of the first small interval are θ 1 ,
Figure PCTCN2022095282-appb-000012
Repeat step S22 to set θ 1 ,
Figure PCTCN2022095282-appb-000013
These two angle values are substituted into the equation system, and the θ 1 ,
Figure PCTCN2022095282-appb-000014
The coordinates corresponding to these two points, and then calculate the straight-line distance between the two points according to the straight-line distance formula between the two points; the angle corresponding to the two ends of the angle between the second cell is
Figure PCTCN2022095282-appb-000015
and
Figure PCTCN2022095282-appb-000016
Use the same method to calculate the coordinates corresponding to these two points, and then calculate the second straight - line distance ; repeat the above operation, calculate the distance between the two ends of different intervals in turn, and sum the 10,000 straight-line distances, which is approximately equal to the theoretical arc length corresponding to the two points F 1 and F 2 .
需要说明的是，当偏转角度α＝90°时，所述移动设备1在所述圆管2上的理论运动轨迹为正圆(特殊的椭圆)，除可以采用上述S21-S23所述步骤计算理论弧长外，还可通过公式
Figure PCTCN2022095282-appb-000017
计算理论弧长，其中θ 2-θ 1为移动设备1从F 1点到F 2点的过程中所走行的圆弧角。 It should be noted that, when the deflection angle α=90°, the theoretical motion trajectory of the mobile device 1 on the circular tube 2 is a perfect circle (a special ellipse). In addition to calculating the theoretical arc length by the above-mentioned steps S21-S23, the formula
Figure PCTCN2022095282-appb-000017
Calculate the theoretical arc length, where θ 2 -θ 1 is the arc angle traveled by the mobile device 1 during the process from point F 1 to point F 2 .
所述移动设备1的实际弧长为所选两点之间的测量距离。The actual arc length of the mobile device 1 is the measured distance between the two selected points.
S3：将计算的所述理论弧长与所述移动设备1的实际弧长进行对比，若所述实际弧长与所述理论弧长存在偏差，则调整所述移动设备1相对所述圆管2轴线的偏转角度。S3: Comparing the calculated theoretical arc length with the actual arc length of the mobile device 1 , if there is a deviation between the actual arc length and the theoretical arc length, adjust the deflection angle of the mobile device 1 relative to the axis of the circular tube 2 .
在本步骤中，已知移动设备以相对圆管轴线呈0-90°范围内走行时，所形成的椭圆轨迹的短轴长度时固定的，等于圆管直径，移动设备1走行方向相对圆管2轴线偏转角度α越大，椭圆长轴越长，椭圆越扁。两个不同的椭圆，从第一个椭圆上找到A 1、A 2两个点，分别过这两个点做切线，在第二个椭圆上的对应位置找到点A 1'、A 2'，过A 1'点、A 2'点做切线，使得A 1'点、A 2'点的切线方向分别与A 1点、A 2点的切线方向相同，若第一个椭圆的长轴较第二个椭圆的长轴要长，则A 1、A 2点间的弧长大于A 1'、A 2'点间的弧长，也即在移动小车相对水平方向转过相同角度的情况下，α越小，移动设备的理论弧长就越长。 In this step, it is known that when the mobile device travels within the range of 0-90° relative to the axis of the circular tube, the length of the minor axis of the formed elliptical trajectory is fixed, which is equal to the diameter of the circular tube. The larger the deflection angle α of the moving direction of the mobile device 1 relative to the axis of the circular tube 2, the longer the major axis of the ellipse, and the flatter the ellipse. For two different ellipses, find two points A 1 and A 2 from the first ellipse, make a tangent through these two points, find points A 1 ' and A 2 ' at the corresponding positions on the second ellipse, and make a tangent through A 1 ' and A 2 ', so that the tangent directions of A 1' and A 2' are the same as those of A 1 and A 2 respectively. If the major axis of the first ellipse is longer than the major axis of the second ellipse long, the arc length between points A 1 and A 2 is greater than the arc length between points A 1 ' and A 2 ' , that is , when the moving car turns at the same angle relative to the horizontal direction, the smaller α is, the longer the theoretical arc length of the mobile device will be.
示例性地，移动设备1在α夹角为30°时的状况下运动，测得在A 1点处时相对水平方向的夹角为5°，在A 2点处时相对水平方向的夹角为50°，算出A 1、A 2点间理论弧长为L 1；移动设备1在α夹角为90°时的状况下运动，测得在A 1'点处时相对水平方向的夹角为5°，测得在A 2'点处时相对水平方向的夹角为50°，算出A 1'、A 2'点间的理论弧长为L 2，则有L 1>L 2。 Exemplarily, when the mobile device 1 moves under the condition that the included angle α is 30°, it is measured that the included angle relative to the horizontal direction is 5° at the A 1 point, and 50° relative to the horizontal direction at the A 2 point, and the theoretical arc length between points A 1 and A 2 is calculated as L 1 ; At point 2 ', the angle relative to the horizontal direction is 50°, and the theoretical arc length between points A 1 ' and A 2 ' is calculated to be L 2 , then L 1 >L 2 .
根据上述理论，可以得出当移动设备1的走行的实际弧长大于理论弧长，表示移动设备1实际走行方向相对圆管轴线的偏转角度小于预设偏转角度，此时需要调大所述移动设备1的偏转角度；相反地，当移动设备1的走行的实际弧长小于理论弧长，表示移动设备1实际走行方向相对圆管轴线的偏转角度大于预设偏转角度，此时需要调小所述移动设备1的偏转角度。在调大调小偏转角度的过程中，可采用边调试边观察的方式，直至实际弧长与理论弧长趋于一致，如此实现了移动设备1在圆管2上运动轨迹的控制。According to the above theory, it can be concluded that when the actual arc length of the mobile device 1 is greater than the theoretical arc length, it means that the deflection angle of the actual travel direction of the mobile device 1 relative to the axis of the circular tube is smaller than the preset deflection angle. At this time, the deflection angle of the mobile device 1 needs to be increased. In the process of adjusting large and small deflection angles, the method of observing while debugging can be adopted until the actual arc length is consistent with the theoretical arc length, thus realizing the control of the movement track of the mobile device 1 on the circular tube 2 .
可选地，如图2-3所示，所述移动设备1的实际弧长采用第一编码器4测量，所述第一编码器4设于所述移动设备1的走行轮11上；所述移动设备1的走行方向相对于圆管2轴线的偏转角度采用第二编码器5测量，所述第二编码器5设于所述走行轮11的方向电机12上。Optionally, as shown in Figures 2-3, the actual arc length of the mobile device 1 is measured by the first encoder 4, and the first encoder 4 is arranged on the traveling wheel 11 of the mobile device 1; the deflection angle of the traveling direction of the mobile device 1 relative to the axis of the circular tube 2 is measured by the second encoder 5, and the second encoder 5 is arranged on the direction motor 12 of the traveling wheel 11.
在本实施例中，所述第一编码器4为高精度编码器，用于测量移动设备走行的实际弧长，便于与计算得到的理论弧长做对比，进行轨迹校正；第二编码器5为绝对值编码器，测量走行轮11的走行方向相对圆管2轴线的偏转角度，当实际轨迹与理论轨迹存在偏差时，启动方向电机12调整走行轮11的偏转角度。In this embodiment, the first encoder 4 is a high-precision encoder, which is used to measure the actual arc length of the mobile device, which is convenient for comparison with the calculated theoretical arc length for trajectory correction; the second encoder 5 is an absolute value encoder, which measures the deflection angle of the running direction of the running wheel 11 relative to the axis of the circular tube 2, and when there is a deviation between the actual trajectory and the theoretical trajectory, start the direction motor 12 to adjust the deflection angle of the running wheel 11.
可选地，所述S2中，所述移动设备1在所选两点时的运动方向相对X轴的夹角采用倾角传感器6测量。Optionally, in S2, the angle between the motion direction of the mobile device 1 at the two selected points and the X-axis is measured by the inclination sensor 6 .
在本实施例中，所述倾角传感器6能够实现角度的快速测量。In this embodiment, the inclination sensor 6 can realize fast angle measurement.
可选地，所述走行轮11内设有磁铁，所述圆管2为钢管或铁管。Optionally, magnets are arranged inside the traveling wheel 11, and the round pipe 2 is a steel pipe or an iron pipe.
在本实施例中，采用带有磁铁的走行轮11在钢管或铁管运动，利用磁铁、钢管之间的磁力吸引作用，可使得走行轮11吸附在圆管2上，以避免移动设备1因走行过程中发生打滑空转，而使得第一编码器4测得的实际弧长存在误差的问题。In this embodiment, the running wheel 11 with a magnet is used to move on the steel pipe or iron pipe, and the magnetic attraction between the magnet and the steel pipe can be used to make the running wheel 11 adsorb on the round pipe 2, so as to avoid the problem that the actual arc length measured by the first encoder 4 has an error due to slipping and idling during the running process of the mobile device 1.
具体应用：通过上述移动设备在圆管上运动轨迹的控制方法可以控制移动设备在圆管上的移动轨迹，运用到圆管的切割定位中，例如需在圆管上切割出椭圆切面；或者用于测量圆管的圆弧度，示例性地，移动设备以与圆管轴线呈90°方向在待测圆管的圆弧面上移动，将移动轨迹编码器测出的实际运行长度与采用角度变化量(上述S21-S23所示方法)计算出的理论弧长进行对比，二者一致，说明该圆管的圆弧度较好，偏差值越大则说明该圆管的圆弧度越差，利用此原理可以检测由多股钢丝绳组成牵引缆索的圆度是否达到理论值。Specific application: the moving track of the mobile device on the round tube can be controlled by the above-mentioned control method of the moving track of the mobile device on the round tube, and it can be applied to the cutting and positioning of the round tube, for example, an ellipse section needs to be cut on the round tube; or it can be used to measure the arc of the round tube. For example, the mobile device moves on the arc surface of the round tube to be measured in a direction of 90° to the axis of the round tube, and compares the actual running length measured by the moving track encoder with the theoretical arc length calculated by using the angle change (the method shown in S21-S23 above). , the two are consistent, indicating that the circularity of the circular tube is better, and the larger the deviation value is, the worse the circularity of the circular tube is. This principle can be used to detect whether the circularity of the traction cable composed of multiple strands of steel wire rope reaches the theoretical value.
虽然本公开披露如上，但本公开的保护范围并非仅限于此。本领域技术人员在不脱离本公开的精神和范围的前提下，可进行各种变更与修改，这些变更与修改均将落入本发明的保护范围。Although the present disclosure is disclosed as above, the protection scope of the present disclosure is not limited thereto. Those skilled in the art can make various changes and modifications without departing from the spirit and scope of the present disclosure, and these changes and modifications will all fall within the protection scope of the present invention.

Claims (10)

  1. 一种移动设备在圆管上运动轨迹的控制方法，其特征在于，包括以下步骤：A method for controlling the movement track of a mobile device on a circular pipe, comprising the following steps:
    S1：移动设备(1)以相对圆管(2)轴线呈预设偏转角度进行走行，建立所述移动设备(1)在所述圆管(2)上运动轨迹(3)的理论椭圆方程，其中椭圆长轴在X轴上，椭圆短轴在Y轴上；S1: The mobile device (1) travels at a preset deflection angle relative to the axis of the circular tube (2), and establishes a theoretical elliptic equation of the motion track (3) of the mobile device (1) on the circular tube (2), wherein the major axis of the ellipse is on the X axis, and the minor axis of the ellipse is on the Y axis;
    S2：选取所述移动设备(1)在实际走行过程中的任意两点，测量所述移动设备(1)在所选两点时的运动方向相对X轴的夹角，结合所述理论椭圆方程，计算所选两点之间的理论弧长；S2: Select any two points in the actual walking process of the mobile device (1), measure the angle between the motion direction of the mobile device (1) at the two selected points relative to the X axis, and calculate the theoretical arc length between the selected two points in combination with the theoretical elliptic equation;
    S3：将计算的所述理论弧长与所述移动设备(1)的实际弧长进行对比，若所述实际弧长与所述理论弧长存在偏差，则调整所述移动设备(1)相对所述圆管(2)轴线的偏转角度。S3: Comparing the calculated theoretical arc length with the actual arc length of the mobile device (1), if there is a deviation between the actual arc length and the theoretical arc length, adjusting the deflection angle of the mobile device (1) relative to the axis of the circular tube (2).
  2. 根据权利要求1所述的移动设备在圆管上运动轨迹的控制方法，其特征在于，所述移动设备(1)的实际弧长采用第一编码器(4)测量，所述第一编码器(4)设于所述移动设备(1)的走行轮(11)上；所述移动设备(1)的走行方向相对于所述圆管(2)轴线的偏转角度采用第二编码器(5)测量，所述第二编码器(5)设于所述走行轮(11)的方向电机(12)上。The method for controlling the movement track of the mobile device on the circular pipe according to claim 1, wherein the actual arc length of the mobile device (1) is measured by a first encoder (4), and the first encoder (4) is arranged on the traveling wheel (11) of the mobile device (1); the deflection angle of the traveling direction of the mobile device (1) relative to the axis of the circular pipe (2) is measured by a second encoder (5), and the second encoder (5) is arranged on the direction motor (12) of the traveling wheel (11). on.
  3. 根据权利要求2所述的移动设备在圆管上运动轨迹的控制方法，其特征在于，所述S1中，所述理论椭圆方程为：
    Figure PCTCN2022095282-appb-100001
    其中，椭圆半短轴b＝圆管半径R，椭圆半长轴
    Figure PCTCN2022095282-appb-100002
    α为所述第二编码器(5)测量的偏转角度值。     The method for controlling the motion trajectory of a mobile device on a circular pipe according to claim 2, wherein, in the S1, the theoretical ellipse equation is:
    Figure PCTCN2022095282-appb-100001
    Among them, the semi-minor axis of the ellipse b=the radius R of the circular tube, and the semi-major axis of the ellipse
    Figure PCTCN2022095282-appb-100002
    α is the deflection angle value measured by the second encoder (5).
  4. 根据权利要求3所述的移动设备在圆管上运动轨迹的控制方法，其特征在于，所述S2中，所述移动设备(1)在所选两点时的运动方向相对X轴的夹角采用倾角传感器(6)测量。The method for controlling the movement track of the mobile device on the circular pipe according to claim 3, characterized in that in S2, the angle between the direction of motion of the mobile device (1) at the two selected points relative to the X axis is measured by an inclination sensor (6).
  5. 根据权利要求4所述的移动设备在圆管上运动轨迹的控制方法，其特征在于，所述S2中，所述计算所选两点之间的理论弧长包括以下步骤：The method for controlling the motion trajectory of a mobile device on a circular pipe according to claim 4, wherein in said S2, said calculation of the theoretical arc length between the selected two points comprises the following steps:
    S21：对所述理论方程求导
    Figure PCTCN2022095282-appb-100003
    结合导数定义y'＝tanθ，得到公 式
    Figure PCTCN2022095282-appb-100004
    其中θ为所述倾角传感器(6)测量的角度值；     S21: Deriving the theoretical equation
    Figure PCTCN2022095282-appb-100003
    Combined with the derivative definition y'=tanθ, the formula is obtained
    Figure PCTCN2022095282-appb-100004
    Wherein θ is the angle value that described inclination sensor (6) measures;
    S22：结合S21中所得公式与所述理论方程，得到所选两点的坐标；S22: Combining the formula obtained in S21 with the theoretical equation to obtain the coordinates of the two selected points;
    S23：根据所选两点的坐标计算所选两点之间的所述理论弧长。S23: Calculate the theoretical arc length between the selected two points according to the coordinates of the selected two points.
  6. 根据权利要求5所述的移动设备在圆管上运动轨迹的控制方法，其特征在于，所述根据所选两点的坐标计算所选两点之间的所述理论弧长包括：The method for controlling the movement trajectory of a mobile device on a circular pipe according to claim 5, wherein said calculating the theoretical arc length between the selected two points according to the coordinates of the selected two points comprises:
    将所述移动设备(1)在所选两点时的运动方向分别相对X轴的夹角θ 1、θ 2之间的区间分成多个小区间，重复所述S22步骤，以依次计算每个小区间两端点的坐标，再计算两坐标之间的直线距离，逐段累加，得到所选两点之间的所述理论弧长。 The moving direction of the mobile device (1) at the selected two points is divided into a plurality of sub-sections between the angles θ 1 and θ 2 of the X-axis with respect to the direction of motion of the mobile device (1), and the step S22 is repeated to sequentially calculate the coordinates of the two ends of each sub-section, and then calculate the straight-line distance between the two coordinates, and add them up segment by segment to obtain the theoretical arc length between the selected two points.
  7. 根据权利要求3所述的移动设备在圆管上运动轨迹的控制方法，其特征在于，当所述α＝90°时，所述移动设备(1)在所述圆管(2)上的理论运动轨迹为正圆。The method for controlling the movement trajectory of the mobile device on the circular pipe according to claim 3, characterized in that, when the α=90°, the theoretical movement trajectory of the mobile device (1) on the circular pipe (2) is a perfect circle.
  8. 根据权利要求7所述的移动设备在圆管上运动轨迹的控制方法，其特征在于，所述S2中，所述计算所选两点之间的理论弧长为：
    Figure PCTCN2022095282-appb-100005
    其中θ 1、θ 2为所述移动设备(1)在所选两点时运动方向分别相对X轴的夹角。     The method for controlling the movement track of the mobile device on the circular pipe according to claim 7, wherein, in the S2, the theoretical arc length between the two points selected in the calculation is:
    Figure PCTCN2022095282-appb-100005
    Wherein θ 1 and θ 2 are the included angles of the moving direction of the mobile device (1) relative to the X-axis when the two points are selected.
  9. 根据权利要求6至8任一项所述的移动设备在圆管上运动轨迹的控制方法，其特征在于，所述S3中，所述若所述实际弧长与所述理论弧长存在偏差，则调整所述移动设备(1)相对所述圆管(2)轴线的偏转角度，包括以下步骤：The method for controlling the movement track of the mobile device on the circular pipe according to any one of claims 6 to 8, wherein in said S3, if there is a deviation between the actual arc length and the theoretical arc length, adjusting the deflection angle of the mobile device (1) relative to the axis of the circular pipe (2) comprises the following steps:
    若所述实际弧长大于所述理论弧长，则调大所述移动设备(1)相对所述圆管(2)轴线的偏转角度，直至所述实际弧长与所述理论弧长趋于一致；If the actual arc length is greater than the theoretical arc length, increase the deflection angle of the mobile device (1) relative to the axis of the circular tube (2) until the actual arc length tends to be consistent with the theoretical arc length;
    若所述实际弧长小于所述理论弧长，则调小所述移动设备(1)相对所述圆管(2)轴线的偏转角度，直至所述实际弧长与所述理论弧长趋于一致。If the actual arc length is smaller than the theoretical arc length, then adjust the deflection angle of the mobile device (1) relative to the axis of the circular tube (2) to be small until the actual arc length and the theoretical arc length tend to be consistent.
  10. 根据权利要求2所述的移动设备在圆管上运动轨迹的控制方法，其特征在于，所述走行轮(11)内设有磁铁，所述圆管(2)为钢管或铁管。The method for controlling the movement track of the mobile device on the circular pipe according to claim 2, characterized in that, magnets are arranged inside the traveling wheels (11), and the circular pipe (2) is a steel pipe or an iron pipe.
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