Pipeline detection snake-shaped robot and control device thereof
阅读说明：本技术 一种管道探测蛇形机器人及其控制装置 (Pipeline detection snake-shaped robot and control device thereof ) 是由 王亚慧 王甲骏 于 2019-12-23 设计创作，主要内容包括：本发明属于管道探测和机器人设计技术领域,本发明公开了一种管道探测蛇形机器人及其控制装置。所述管道探测蛇形机器人包括3个以上相互连接的单元模块,所述单元模块分为普通模块与驱动模块,所述普通模块与驱动模块交替连接,形成管道探测蛇形机器人的总长度,总长度根据管道直径的大小可变,以满足在管道内部贴附管壁螺旋一周到两周,使其稳定贴附在管壁上,通过驱动模块提供驱动力驱使机器人运动。本发明采用紧贴管线内壁做螺旋运动的推进方式,当管径小到不适合螺旋运动时,又可以做直线运动,这样可以适应从小口径到大口径不同的管道进行探测运动,通过增减单元模块的数量及各单元模块之间的相对夹角,可以使其贴附在不同管径的管壁内。(The invention belongs to the technical field of pipeline detection and robot design, and discloses a pipeline detection snake-shaped robot and a control device thereof. The snake-shaped robot is surveyed to pipeline includes interconnect's more than 3 unit modules, the unit module divide into ordinary module and drive module, ordinary module and drive module are connected in turn, form the total length of pipeline survey snake-shaped robot, and the total length is variable according to the size of pipeline diameter to satisfy in the inside attached pipe wall spiral of pipeline one week to two weeks, make it stably attached on the pipe wall, provide drive power through drive module and order about the robot motion. The invention adopts a propelling mode of carrying out spiral motion by clinging to the inner wall of the pipeline, and can carry out linear motion when the pipe diameter is too small to be suitable for spiral motion, thus being suitable for the detection motion of pipelines with different diameters from small diameter to large diameter, and the pipe walls with different diameters can be attached by increasing and decreasing the number of unit modules and the relative included angles among the unit modules.)
1. The utility model provides a snakelike robot is surveyed to pipeline, its characterized in that includes interconnect's more than three unit module, the unit module divide into ordinary module and drive module, ordinary module and drive module are connected in turn, form the total length of pipeline survey snakelike robot, and the total length is variable according to the size of pipeline diameter to satisfy in the inside attached pipe wall spiral of pipeline week to two weeks, provide drive power through drive module and order about the robot motion.
2. The pipeline detecting snake-shaped robot according to claim 1, wherein the common module comprises a shell, a U-shaped connecting piece, a pitching steering engine, a rotating steering engine, a torque sensor, a fixing piece, a front end moving part and a rear end moving part;
the driving module consists of a common module and a servo motor;
the opening end of the U-shaped connecting piece is connected with an output shaft of the pitching steering engine in the shell, and the bottom of the U-shaped connecting piece is connected with the next unit module;
an output shaft of the pitching steering engine is led out from one end of the shell, and a U-shaped connecting piece is connected to the output shaft, so that the U-shaped connecting piece is linked with the pitching steering engine in a rotating manner; the bottom of the pitching steering engine is fixedly connected with a torque sensor;
an output shaft of the rotary steering engine is fixedly connected with a torque sensor at the bottom of the pitching steering engine, and the whole pitching steering engine is driven to rotate by the rotation of the rotary steering engine;
the fixing piece is fixedly connected with the inner wall of the shell, and the rotary steering engine is fixed on the fixing piece; the bottom of the fixing piece is provided with an extension part which protrudes out of the outer end face of the shell and is used for connecting the next unit module;
the front end moving part is a group of wheels which are arranged on the outer circumference of the front end of the shell through a ring shaft and assist the forward and backward movement of the robot;
the rear end moving part is a group of wheels which are arranged on the outer circumference of the rear end of the shell through a ring shaft, assists the robot to move forwards and backwards in the common module, and provides driving force for the robot to move in the driving module;
the servo motor transmits the driving force of the servo motor to the rear end moving part through the gear transmission set.
3. The pipeline detecting snake robot as claimed in claim 1, wherein the housing is cylindrical.
4. The pipeline detecting snake-shaped robot as claimed in claim 1, wherein the diameter of the wheel of the front moving part is smaller than that of the wheel of the rear moving part.
5. The pipeline detecting snake-shaped robot as claimed in claim 1, wherein the first unit module is a common module, and a high-definition camera is arranged on the common module.
6. The pipe detecting snake-shaped robot according to claim 1, further comprising an upper computer, a master controller and slave controllers, wherein the upper computer sends control instructions to the master controller, the master controller is respectively connected with the N slave controllers through CAN buses, and the N slave controllers are respectively arranged in the N unit modules; the N slave controllers adopt an embedded single-chip microcomputer technology, and an executing mechanism used in the robot is carried on the slave controllers; the executing mechanism comprises a rotary steering engine, a pitching steering engine, a driving motor and a sensor, so that each embedded single chip microcomputer independently processes the motion instruction of a single unit module.
7. The pipe detecting snake robot as claimed in claim 6, wherein the sensors comprise methane concentration sensor, temperature sensor, humidity sensor, image sensor and position and attitude sensor.
8. The pipeline detecting snake robot as claimed in claim 6, wherein the number N of the slave controllers is 16.
9. The control device for the pipeline detection snake-shaped robot is characterized by comprising an upper computer, a main controller and sub-controllers, wherein the upper computer sends a control instruction to the main controller, the main controller is respectively connected with N sub-controllers through CAN buses, and the N sub-controllers are respectively arranged in N unit modules; the N slave controllers adopt an embedded single-chip microcomputer technology, and an executing mechanism used in the robot is carried on the slave controllers; the executing mechanism comprises a rotary steering engine, a pitching steering engine, a driving motor and a sensor, so that each embedded single chip microcomputer independently processes the motion instruction of a single unit module.
Technical Field
The invention belongs to the technical field of pipeline detection and robot design, and particularly relates to a pipeline detection snake-shaped robot and a control device thereof.
Background
The pipeline conveying mode has the advantages of large conveying capacity, convenience, rapidness, low cost and the like. Taking gas pipeline transportation as an example: because the pipeline is buried deeply, the pipeline is easily affected by environmental corrosion or natural disasters of force inelasticity and self defects, the pipeline is damaged, gas is leaked, and serious accidents such as environmental pollution, inflammable explosion, energy waste and the like are caused, so that the interior of the pipeline needs to be inspected and maintained regularly. The traditional gas pipeline detection is that whether the pipeline is damaged or not is judged mainly by whether the gas concentration around the pipeline is abnormal or not through the inspection of the external patrol of the pipeline by related personnel, namely, the pipeline can only be found to be damaged after the gas leakage occurs, and the internal part of the pipeline cannot be effectively detected.
Disclosure of Invention
The invention provides a pipeline detection snake-shaped robot and a control device thereof, aiming at solving the problems of adaptability and flexibility of a pipeline robot in the prior art.
The invention firstly provides a pipeline detection snake-shaped robot, which comprises more than 3 unit modules which are connected with each other, wherein the unit modules are divided into common modules and driving modules, the common modules and the driving modules are alternately connected to form the total length of the pipeline detection snake-shaped robot, the total length can be changed according to the diameter of a pipeline, so that the pipe wall can be attached inside the pipeline in a spiral manner for one to two circles, the pipe wall can be stably attached to the pipe wall, and the driving module provides driving force to drive the robot to move.
The common module comprises a shell, a U-shaped connecting piece, a pitching steering engine, a rotary steering engine, a circular connecting piece, a fixing piece, a front end moving part and a rear end moving part.
The driving module consists of a common module and a servo motor.
The shell is a cylindrical shell, the open end of the U-shaped connecting piece is connected with the output shaft of the pitching steering engine in the shell, and the bottom of the U-shaped connecting piece is connected with the next unit module.
An output shaft of the pitching steering engine is led out from one end of the shell, and a U-shaped connecting piece is connected to the output shaft, so that the U-shaped connecting piece can be linked with the pitching steering engine in a rotating mode. And the bottom of the pitching steering engine is fixedly connected with a torque sensor.
The output shaft of the rotary steering engine is fixedly connected with a torque sensor at the bottom of the pitching steering engine, and the rotation of the rotary steering engine can drive the whole pitching steering engine to rotate.
The fixing piece is fixedly connected with the inner wall of the shell, and the rotary steering engine is fixed on the fixing piece. The bottom of the fixing piece is provided with an extension part which protrudes out of the outer end face of the shell and is used for connecting the next unit module.
The front end moving part is a group of wheels which are arranged on the outer circumference of the front end of the shell through a ring shaft and assist the forward and backward movement of the robot.
The rear end moving part is a group of wheels which are arranged on the outer circumference of the rear end of the shell through a ring shaft, assists the robot to move forwards and backwards in the common module, and provides driving force for the robot to move in the driving module.
The servo motor transmits the driving force of the servo motor to the rear end moving part through the gear transmission set.
Preferably, the housing is cylindrical.
Preferably, the wheel diameter of the front end moving part is smaller than that of the rear end moving part.
Preferably, the first unit module is a common module, and a high-definition camera is arranged on the common module.
Preferably, the robot further comprises an upper computer, a master controller and slave controllers, wherein the upper computer sends a control instruction to the master controller, the master controller is respectively connected with the N slave controllers through CAN buses, and the N slave controllers are respectively arranged in the N unit modules; the N slave controllers adopt an embedded single-chip microcomputer technology, and an executing mechanism used in the robot is carried on the slave controllers; the executing mechanism comprises a rotary steering engine, a pitching steering engine, a driving motor and a sensor, so that each embedded single chip microcomputer independently processes the motion instruction of a single unit module.
Preferably, the sensors include a methane concentration sensor, a temperature sensor, a humidity sensor, an image sensor, and a position and attitude sensor.
Preferably, the number N of the slave controllers is 16.
The invention also provides a control device of the pipeline detection snake-shaped robot, the control device comprises an upper computer, a master controller and slave controllers, the upper computer sends a control instruction to the master controller, the master controller is respectively connected with 16 slave controllers through CAN buses, and the slave controllers are respectively arranged in each unit module; the N slave controllers adopt an embedded single-chip microcomputer technology, and an executing mechanism used in the robot is carried on the slave controllers; the executing mechanism comprises a rotary steering engine, a pitching steering engine, a driving motor and a sensor, so that each embedded single chip microcomputer independently processes the motion instruction of a single unit module.
The invention has the advantages that:
1. the invention is different from the mode of climbing the outer wall of the pipeline or moving in a transverse curve by the prior snake-shaped robot, but adopts a propulsion mode of carrying out spiral motion by clinging to the inner wall of the pipeline, and can carry out linear motion when the pipe diameter is small enough not to be suitable for spiral motion. Therefore, the device can be suitable for detecting the movement of pipelines with different calibers from small calibers to large calibers.
2. The pipe detection snake-shaped robot can adapt to the working conditions in a horizontal pipe and a vertical pipe, the torque output by the unit module provides pressure attached to the pipe wall, and the driving of the driving motor provides the thrust of movement. The pipeline detection snake-shaped robot can adapt to working conditions of different pipe diameters, and can be attached to pipe walls of different pipe diameters by increasing and decreasing the number of the unit modules and the relative included angles among the unit modules.
3. The pipe detection snake-shaped robot can cross the bulge in the pipe caused by the pipe connection and the like in the pipe and pass through the bent part of the pipe in a spiral mode.
Drawings
FIG. 1 is a schematic diagram of the overall structure of a pipeline detection snake-shaped robot provided by the embodiment;
FIG. 2 is a simplified schematic diagram of connection of unit modules in a pipeline detection serpentine robot provided by an embodiment;
FIG. 3A is an enlarged external view of a unit module in the pipeline detection serpentine robot provided by the embodiment;
FIG. 3B is a simplified schematic diagram of the interior of a single module in a pipeline-probing serpentine robot according to an embodiment;
FIG. 4 is a block diagram of a control device of the pipe-detecting snake robot provided by the embodiment;
FIG. 5 shows the results of simulation curves of the pipeline detection snake robot driving in ADAMS software for 7-section unit modules provided in the examples.
Detailed Description
The present invention will be described in detail below with reference to the accompanying drawings.
The invention provides a pipe detection snake-shaped robot (hereinafter referred to as a robot), which can make the robot have the capability of attaching to the inner wall of a pipe and keep the robot stable in a spiral mode in the pipe by means of the structural characteristics of the robot. The mechanical structure part adopts the design of unit modular structure, can increase and decrease the quantity and the adjustment gesture of unit module in a flexible way according to the diameter size of required working line in order to realize that the robot adapts to different pipe diameters to select light aluminium on the structure preparation material of unit module, reach the purpose of small volume light. Meanwhile, in order to enable the detection robot to have multi-posture conversion capability, the connection mode among all the unit modules adopts the design of one pitching steering engine and one rotating steering engine, so that each unit module has one rotating freedom degree which can rotate 360 degrees relative to the adjacent unit modules, and the flexible characteristic of multi-posture conversion is achieved.
The robot provided by the invention is integrally and stably arranged in a pipeline in a spiral mode, the driving motor drives the wheels to provide a driving force for movement, and the robot can work in the pipeline with the thickness of 200-500 mm.
As shown in figures 1 and 2, the pipeline detection snake-shaped robot provided by the invention is of an integral structure formed by connecting unit modules, and can generate adaptive robot postures in different pipe diameters. Since the pipe inspection robot requires movement inside the pipe, which is different from the previous working environment when moving on the ground and outside the pipe, it is necessary to improve the structure of the existing snake-like robot unit module. Firstly, dividing the unit module into two modules according to the function of the unit module, wherein one module is a common module A in charge of detection and collection, the other module is a driving module B in charge of driving the robot to move forwards, and the common module A and the driving module B are alternately connected; according to the diameter of the pipeline to be detected, the total connecting length of the unit modules is variable, so that the robot is enabled to be attached to the pipe wall in the pipeline in a spiral mode from one week to two weeks, usually in an interval of more than one week and less than two weeks, namely about one week and half, to be stably attached to the pipe wall, and the driving module B is used for providing driving force to drive the robot to move.
As shown in fig. 3A and 3B, the general module a includes a
The
The
In the common module A, the wheels at the front end and the rear end are driven wheels without driving capability. On the basis of the common module A, a driving motor is added in the driving module B, and the driving module B drives the rear-end wheel to rotate by using gear transmission, so that the robot is pushed to advance. The gear transmission is formed by combining a plurality of gear sets. The intermediate gear is arranged on an output shaft of the driving motor, and the driving motor drives the gear to rotate. Four small gears are surrounded to form a row of star gears, and parallel transmission is realized between the small gears. A group of gears for vertical transmission is integrated below the planetary gear, then the wheels are directly driven by the gears for vertical transmission to drive the wheels to rotate, and driving force is provided for the forward movement or the backward movement of the robot through the friction force between the wheels and the pipe wall.
The unit modules of the pipeline detection robot structurally keep the independence of each unit module, the connection mode of the
Based on the pipeline detection robot, the invention also provides a control device of the pipeline detection robot, as shown in fig. 4, the control device comprises an upper computer, a main controller and slave controllers, a software compiling and upper computer monitoring system is designed at the computer end of an operator, the upper computer is connected with the main controller controlled by the microcontroller downwards, and the main controller is respectively connected with the N (preferably 16) slave controllers through CAN buses, so that the robot has good expandability, and meanwhile, the CAN buses CAN meet the real-time requirement of the robot. The number of the slave controllers is the same as that of the unit modules, and the slave controllers are respectively arranged on each unit module. The slave controller adopts an embedded single-chip microcomputer technology, an actuating mechanism applied to the robot is carried on the slave controller, and the actuating mechanism comprises a rotary steering engine, a pitching steering engine, a driving motor and a sensor, so that each embedded single-chip microcomputer can independently process the motion of a single unit module, and the stability and the real-time performance of the system are improved.
An operator sends a control command to a master controller in an upper computer, the master controller transmits the control command to slave controllers of all the unit modules through a CAN bus network, the slave controllers perform independent calculation on operation problems such as corner calculation of all the unit modules and the like, and the attitude, the motion and the like of the robot are controlled, for example, the corners of rotary steering engines in all the unit modules are controlled, so that the aim of controlling the attitude of the robot is fulfilled; the rotation of the driving motor is controlled, so that the aim of controlling the forward and backward movement of the robot is fulfilled; and the data transmission of the sensor is controlled, so that the aim of collecting various information in the pipeline is fulfilled, and the like.
The sensor comprises a methane concentration sensor, a temperature sensor, a humidity sensor, an image sensor, a position sensor, an attitude sensor and the like, can collect gas components, temperature and humidity in the pipeline, utilizes the robot positioning technology of low-frequency electromagnetic signals to judge the position of the robot in the pipeline, and connects a data transmission line into the slave controller so as to realize data collection.
The high-definition camera is arranged on the unit module and matched with various sensors, so that the on-site real-time video information and various environmental indexes of the inner wall of the pipeline can be collected and sent to an upper computer through a communication network, and the on-line real-time monitoring is realized.
Preferably, the high-definition camera is mounted only on the first unit module. The first unit module is generally a general module a.
In the meandering motion control of the snake-like robot, the motion state of the robot can be expressed by the following formula (1):
in the formula, α0Denotes an initial angle of the meandering motion, n denotes the number of unit modules of the robot, L denotes a unit module length, L denotes an entire length of the robot, and KnDenotes the number of waves propagating during the meandering motion, K1The curvature deviation of the motion curve of the snake-shaped robot is shown, s represents the virtual displacement of the unit module at the back of the snake-shaped robot along the axis direction of the motion curve, and i represents any unit module in the snake-shaped robot.
The basic method for controlling the motion of the snake-shaped robot is to control the motion attitude of the snake-shaped robot by changing the relative angle between the adjacent unit modules, the relation between the virtual displacement of the snake-shaped robot and the relative rotation angle between the adjacent unit modules is shown in the formula, and when the virtual displacement s is continuously changed along with the change of time in the motion process, the rotation angle of each unit module is also changed along with the relative change, so that the continuous motion of the snake-shaped robot is realized. In a control system, the rotation angle is continuously calculated according to the real-time change of the virtual displacement s, and then the servo steering engine (comprising a pitching steering engine and a rotating steering engine) is enabled to complete rotation angle conversion through a driving signal.
The invention adopts distributed control to distribute the operation problems of the rotation angle calculation and the like of each unit module on the respective slave controllers. The master controller transmits the s variable in the motion control function to the slave controllers of all the unit modules through the CAN bus network, the slave controllers of all the unit modules autonomously calculate the transformation angle of the slave controllers, and a confirmation signal is sent to the master controller after all the operations are completed. According to the characteristics of the motion control function of the snake-shaped robot, main calculation variables are that after a hardware system and various parameters in a unit module are determined by s and i, i of each unit module is determined for a slave controller of the unit module, the slave controller CAN calculate the angle required to be changed by the slave controller according to an algorithm by acquiring the s variable sent by the master controller on a CAN bus. The main controller sends a synchronous signal after receiving the completion calculation confirmation of all the unit modules on the bus, and all the unit modules start to adjust the postures of the unit modules uniformly according to the synchronous signal so as to realize the motion adjustment of the snake-shaped robot. The snake-shaped robot carries sixteen unit modules as a research object, when distributed control is adopted, the main controller only transmits a variable s to the slave controllers of all the unit modules, the unit modules calculate the required transformation angle according to the variable i of the unit modules, the required time is about 6ms, the period of the main controller for transmitting the variable can be reduced to 37ms, and compared with a centralized control mode, the operation transmission efficiency of data is greatly improved.
The pipe detection snake-shaped robot provided by the invention can move in a linear or spiral manner in horizontal and vertical pipes with different pipe diameters of 200mm-500mm and even smaller pipe diameters to perform pipe detection. The unit module design diameter is about 70mm and the unit module length is 40 mm. If inside the pipeline of diameter 500mm, the unit module needs nine sections can spiral a week, and the inside rotatory steering wheel corner of each unit module is 20, and the corner of every single move steering wheel is at 40. In the pipeline, each unit module keeps the rotation angle unchanged, and front and rear end wheels directly contact with the pipe wall to drive the whole robot to spirally move forwards. In the same way, in a pipeline with the diameter of 350mm, unit modules are connected through front and rear end connecting pieces, 7 sections of unit modules (including 3 sections of driving modules B and 4 sections of common modules A) can be screwed for one circle, driving simulation is carried out in ADAMS software, and displacement, speed and the like during movement are obtained according to simulation, so that the robot can slowly advance in a spiral mode in the pipeline, as shown in FIG. 5.
In a small pipeline with the diameter of 200mm, each steering engine keeps a zero rotation angle, so that the steering engines are connected into a straight line and directly placed at the bottom of the pipeline, and when the steering engines need to move, rear wheels in the driving module B are controlled to move forwards. Therefore, the robot not only meets the working requirements of different pipe diameters of 300-500 mm, but also can work in a pipeline with a small pipe diameter of 200-300 mm.
When the detection robot works in the pipeline, because the pipeline is internally provided with no light source, the robot works in a dark environment and cannot perform visual image acquisition detection work, and therefore, the LED illumination function can be added to the first unit module, namely the snake head joint in an expanded mode. The snake's head joint, because of its location at the foremost end of the robot, has a number of constraints that are structurally allowed to move away from the pipe wall. But also limits the manufacturing material of the snake head joint to be light material and can not bring heavy burden to the adjacent unit module. Therefore, the snake head unit generally adopts a common module A.
The pipeline detection snake-shaped robot provided by the invention has the following functions and advantages:
the adhesive capacity: the detection robot can be attached inside the pipeline by depending on the structural characteristics of the robot, and the problems of falling, sideslip, unstable structure and the like of the robot under the static or moving condition can be avoided.
Spiral motion capability: the detection robot can keep the spiral posture inside the pipeline to be stably attached to the inner wall of the pipeline, and can advance and retreat in a spiral mode under the condition of having enough driving force.
Ability to adapt to different pipe diameters: the detection robot has the capability of adapting to the working conditions of various pipe diameters, and can adapt to the corresponding working pipe diameters by adjusting the postures of the robot and the number of unit modules when the detection robot works in different pipe diameters.
Remote control capability: the detection robot has a remote control function, so that an operator can send instructions to the robot through an upper computer or a remote controller to carry out remote control.
Image acquisition and sensing signal transmission ability: the detection robot has the capability of carrying an image sensor and other sensing equipment such as various gas detectors and pressure sensors, and can transmit acquired images or data signals to an upper computer and display the acquired images or data signals.
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