阅读说明：本技术 一种智能管道检测机器人及其控制方法 (Intelligent pipeline detection robot and control method thereof ) 是由 谭锦欣 孙连鹏 鄢琳 邓欢忠 林健新 左达任 于 2020-12-21 设计创作，主要内容包括：本发明公开了一种智能管道检测机器人及其控制方法,机器人包括：机器人机身以及设置在机器人机身底部的多个移动轮,移动轮与行走驱动电机驱动连接,机器人机身上设置有控制器、无线通信模块、监控摄像机以及多自由度机械手臂,多自由度机械臂上设置有若干关节驱动电机,多自由度机械臂的末端设置有双目相机和电控清洁组件,行走驱动电机、无线通信模块、监控摄像机、关节驱动电机、双目相机和电控清洁组件分别与控制器电性连接,控制器通过无线通信模块与远程监控终端通信连接。本发明具有智能化程度高、移动灵活性高、工作范围广的特点,通过多自由度机械臂可以灵活调整拍摄角度,并可清除杂质获得清晰的管道缺陷图像。(The invention discloses an intelligent pipeline detection robot and a control method thereof, wherein the robot comprises: the robot comprises a robot body and a plurality of moving wheels arranged at the bottom of the robot body, wherein the moving wheels are in driving connection with a walking driving motor, the robot body is provided with a controller, a wireless communication module, a monitoring camera and a multi-degree-of-freedom mechanical arm, the multi-degree-of-freedom mechanical arm is provided with a plurality of joint driving motors, the tail end of the multi-degree-of-freedom mechanical arm is provided with a binocular camera and an electric control cleaning assembly, the walking driving motor, the wireless communication module, the monitoring camera, the joint driving motors, the binocular camera and the electric control cleaning assembly are respectively and electrically connected with the controller, and the controller is in communication connection with. The invention has the characteristics of high intelligent degree, high movement flexibility and wide working range, can flexibly adjust the shooting angle through the multi-degree-of-freedom mechanical arm, and can remove impurities to obtain clear pipeline defect images.)

1. An intelligent pipeline inspection robot, comprising: the robot comprises a robot body and a plurality of moving wheels arranged at the bottom of the robot body, wherein the moving wheels are in driving connection with a walking driving motor, the robot body is provided with a controller, a communication module, a monitoring camera and a multi-degree-of-freedom mechanical arm, the multi-degree-of-freedom mechanical arm is provided with a plurality of joint driving motors, the tail end of the multi-degree-of-freedom mechanical arm is provided with a binocular camera, a lighting device and an electric control cleaning component, the walking driving motor, the communication module, the monitoring camera, the joint driving motor, the binocular camera, the lighting device and the electric control cleaning component are respectively and electrically connected with the controller, the controller drives the moving wheels to rotate by controlling the walking driving motor, the controller controls the movement of the multi-degree-of freedom mechanical arm by controlling the plurality of joint driving motors, the, the binocular camera is used for acquiring images of a pipeline defect area, and the electric control cleaning assembly is used for removing impurities on the wall of the pipeline; the controller is in communication connection with the remote monitoring terminal through the communication module.

2. The intelligent pipeline inspection robot of claim 1, wherein the multi-degree-of-freedom mechanical arm is a three-degree-of-freedom mechanical arm and comprises a waist joint, a shoulder joint and an elbow joint, the waist joint is in driving connection with a first joint driving motor, the first joint driving motor is fixed on the robot body, the joint driving motors are respectively a first joint driving motor, a second joint driving motor and a third joint driving motor, the waist joint, the shoulder joint and the elbow joint are in driving connection with one another through the second joint driving motor and the third joint driving motor respectively, and the tail end of the elbow joint is provided with the binocular camera and the electric control cleaning component.

3. The intelligent pipeline inspection robot of claim 2, wherein the electrically controlled cleaning assembly comprises a cleaning motor, an electrically controlled telescopic rod and a brush head, the electrically controlled telescopic rod is connected with a rotating shaft of the cleaning motor, the brush head is arranged at the tail end of the electrically controlled telescopic rod, and the cleaning motor and the electrically controlled telescopic rod are respectively electrically connected with the controller.

4. The intelligent pipeline inspection robot of claim 1, wherein two anti-collision wheels are respectively disposed on two sides of the robot body.

5. The intelligent pipeline inspection robot according to claim 1, wherein ultrasonic sensors are respectively disposed at front, rear, left and right positions of the robot body, and the ultrasonic sensors are electrically connected to the controller.

6. The intelligent pipeline inspection robot of claim 1, wherein the remote monitoring terminal is a cloud server, a mobile terminal, or a monitoring computer.

7. The intelligent pipeline inspection robot of claim 1, wherein the communication module is a wireless communication module that is a GPRS module, a ZIGBEE module, or a WIFI module.

8. A control method of an intelligent pipeline inspection robot, applied to the intelligent pipeline inspection robot of any one of claims 1 to 7, comprising the steps of:

the method comprises the steps that a monitoring camera collects global images in a pipeline in real time, the global images are transmitted to a controller and are transmitted to a remote monitoring terminal through a wireless communication module, and a pipeline defect area to be detected is determined;

carrying out target identification and semantic segmentation on the pipeline defect area to be detected by utilizing a neural network algorithm, and acquiring the central coordinate position of the pipeline defect area to be detected relative to the robot;

the robot carries out autonomous positioning navigation based on the SLAM technology and moves to the position of the pipeline defect area to be detected;

the controller controls the electric control cleaning assembly to clean the pipeline wall, and clear close-up images of the pipeline defects are acquired through the binocular camera.

9. The control method of the intelligent pipeline inspection robot according to claim 8, wherein the controller controls the electronically controlled cleaning assembly to clean the pipe wall and obtain a clear close-up image of the pipeline defect through the binocular camera, and specifically comprises:

the controller controls the multi-degree-of-freedom mechanical arm to adjust the cleaning position of the electric control cleaning assembly and the shooting angle of the binocular camera;

the controller controls the electric control telescopic rod to adjust the extending length of the brush head, and then controls the cleaning motor to control the brush head to rotate so as to clean impurities on the wall of the pipeline;

after the electric control cleaning assembly is cleaned, the binocular camera shoots clear close-up images of the pipeline defects, transmits the close-up images to the controller and transmits the close-up images to the remote monitoring terminal through the wireless communication module.

Technical Field

The invention relates to the technical field of pipeline detection robots, in particular to an intelligent pipeline detection robot and a control method thereof.

Background

Urban drainage pipelines are important ways for removing urban sewage and rainwater, and vertically and horizontally staggered underground drainage pipelines in cities are extremely important municipal facilities and even become basic facilities for stable development of cities, and the normal operation of the underground drainage pipelines is an important guarantee for guaranteeing the normal order of urban production and life. Because the internal environment of the urban underground pipeline is severe, pipeline faults such as damage, leakage or blockage easily occur to the pipeline, and the normal drainage function of the urban underground pipeline is influenced, so that the production and the life of people in the city are influenced. In view of this, it is very important to regularly detect the urban underground drainage pipelines and detect various technical parameters of the drainage pipelines and the internal environment thereof so as to find problems in time and perform maintenance in time.

The detection of traditional drainage pipe all detects through methods such as simple periscope and artifical hand touch pipeline inner wall for a long time, detection efficiency is low, in order to further improve detection efficiency, the mode of carrying on the camera in the pit or walking in the pipeline through the drive dolly has been researched and developed among the prior art and has been detected drainage pipe, but current pipeline detection dolly function singleness can't carry out clear, accurate image acquisition to pipeline defect position, consequently need further improve and perfect.

Disclosure of Invention

The invention aims to provide an intelligent pipeline detection robot and a control method thereof, which have the characteristics of high intelligent degree, high movement flexibility and wide working range, can flexibly adjust the shooting angle through a multi-degree-of-freedom mechanical arm, and can remove impurities to obtain clear pipeline defect images.

In order to achieve the purpose, the invention provides the following scheme:

an intelligent pipeline inspection robot, comprising: the robot comprises a robot body and a plurality of moving wheels arranged at the bottom of the robot body, wherein the moving wheels are in driving connection with a walking driving motor, the robot body is provided with a controller, a communication module, a monitoring camera and a multi-degree-of-freedom mechanical arm, the multi-degree-of-freedom mechanical arm is provided with a plurality of joint driving motors, the tail end of the multi-degree-of-freedom mechanical arm is provided with a binocular camera, a lighting device and an electric control cleaning component, the walking driving motor, the communication module, the monitoring camera, the joint driving motor, the binocular camera, the lighting device and the electric control cleaning component are respectively and electrically connected with the controller, the controller drives the moving wheels to rotate by controlling the walking driving motor, the controller controls the movement of the multi-degree-of freedom mechanical arm by controlling the plurality of joint driving motors, the, the binocular camera is used for acquiring images of a pipeline defect area, and the electric control cleaning assembly is used for removing impurities on the wall of the pipeline; the controller is in communication connection with the remote monitoring terminal through the communication module.

Optionally, the multi freedom arm is three freedom arms, including waist joint, shoulder joint and elbow joint, and is a plurality of joint driving motor is first joint driving motor, second joint driving motor, third joint driving motor respectively, waist joint and first joint driving motor drive are connected, first joint driving motor fixes on one's body the robot, connect through second joint driving motor and third joint driving motor drive respectively between waist joint, shoulder joint and the elbow joint, the end of elbow joint sets up binocular camera and automatically controlled clean subassembly.

Optionally, the automatically controlled clean subassembly includes clean motor, automatically controlled telescopic link and brush head, automatically controlled telescopic link with the pivot of clean motor is connected, the brush head sets up the end of automatically controlled telescopic link, clean motor and automatically controlled telescopic link respectively with controller electric connection.

Optionally, two sides of the robot body are respectively provided with two anti-collision wheels.

Optionally, the front side, the rear side, the left side and the right side of the robot body are respectively provided with an ultrasonic sensor, and the ultrasonic sensors are electrically connected with the controller.

Optionally, the remote monitoring terminal is a cloud server, a mobile terminal or a monitoring computer.

Optionally, the wireless communication module is a GPRS module, a ZIGBEE module, or a WIFI module.

The invention also provides a control method of the intelligent pipeline detection robot, which is applied to the intelligent pipeline detection robot and comprises the following steps:

the method comprises the steps that a monitoring camera collects global images in a pipeline in real time, the global images are transmitted to a controller and are transmitted to a remote monitoring terminal through a wireless communication module, and a pipeline defect area to be detected is determined;

carrying out target identification and semantic segmentation on the pipeline defect area to be detected by utilizing a neural network algorithm, and acquiring the central coordinate position of the pipeline defect area to be detected relative to the robot;

the robot carries out autonomous positioning navigation based on the SLAM technology and moves to the position of the pipeline defect area to be detected;

the controller controls the electric control cleaning assembly to clean the pipeline wall, and clear close-up images of the pipeline defects are acquired through the binocular camera.

Optionally, the controller controls the electronic control cleaning assembly to clean the pipe wall, and obtains a clear close-up image of the pipeline defect through the binocular camera, and the method specifically includes:

the controller controls the multi-degree-of-freedom mechanical arm to adjust the cleaning position of the electric control cleaning assembly and the shooting angle of the binocular camera;

the controller controls the electric control telescopic rod to adjust the extending length of the brush head, and then controls the cleaning motor to control the brush head to rotate so as to clean impurities on the wall of the pipeline;

after the electric control cleaning assembly is cleaned, the binocular camera shoots clear close-up images of the pipeline defects, transmits the close-up images to the controller and transmits the close-up images to the remote monitoring terminal through the wireless communication module.

According to the specific embodiment provided by the invention, the invention discloses the following technical effects: the invention provides an intelligent pipeline detection robot and a control method thereof.A multi-degree-of-freedom mechanical arm is arranged on a robot body and is used for carrying a binocular camera and an electric control cleaning assembly, so that on one hand, accurate acquisition of images of a pipeline defect area can be realized, and on the other hand, dirt on the surface of a pipe wall can be cleared through the electric control cleaning assembly, thereby facilitating observation of the pipe wall defect; secondly, a monitoring camera is further arranged and matched with the binocular camera, so that the complete image in the pipeline can be collected, the moving position of the robot can be monitored, and the accuracy and the comprehensiveness of the image can be ensured; thirdly, two sides of the robot body are respectively provided with two anti-collision wheels, and the anti-collision wheels can prevent the robot body from colliding with the pipe wall on one hand and can play a role in balance support on the other hand so as to prevent the robot from turning on one side in the arc pipeline; meanwhile, the running state of the robot can be monitored by matching with an ultrasonic sensor and monitoring obstacles around the robot.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed to be used in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings without inventive exercise.

FIG. 1 is a schematic structural diagram of an intelligent pipeline inspection robot according to an embodiment of the present invention;

FIG. 2 is a top view of an intelligent pipeline inspection robot in accordance with an embodiment of the present invention;

FIG. 3 is a block diagram illustrating the control principle of the intelligent pipeline inspection robot according to the embodiment of the present invention;

FIG. 4 is a flowchart of a control method of the intelligent pipeline inspection robot according to the embodiment of the present invention;

reference numerals: 1. a robot body; 2. a moving wheel; 3. a travel driving motor; 4. an ultrasonic sensor; 5. an anti-collision wheel; 6. a first joint driving motor; 7. a waist joint; 8. a second joint driving motor; 9. a shoulder joint; 10. a third joint driving motor; 11. an elbow joint; 12. a binocular camera; 13. a brush head; 14. an electric control telescopic rod; 15. cleaning the motor; 16. a surveillance camera; 17. a control box; 17-1, a controller; 17-2, a wireless communication module; 18. and (5) remotely monitoring the terminal.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

The invention aims to provide an intelligent pipeline detection robot and a control method thereof, which have the characteristics of high intelligent degree, high movement flexibility and wide working range, can flexibly adjust the shooting angle through a multi-degree-of-freedom mechanical arm, and can remove impurities to obtain clear pipeline defect images.

In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in further detail below.

As shown in fig. 1 to 3, an intelligent pipeline inspection robot provided in an embodiment of the present invention includes: the robot comprises a robot body 1 and a plurality of moving wheels 2 arranged at the bottom of the robot body 1, wherein the moving wheels 2 are in driving connection with a walking driving motor 3, a controller 17-1, a wireless communication module 17-2, a monitoring camera 16 and a multi-degree-of-freedom mechanical arm are arranged on the robot body 1, a plurality of joint driving motors are arranged on the multi-degree-of-freedom mechanical arm, a binocular camera 12, a lighting device and an electric control cleaning component are arranged at the tail end of the multi-degree-of-freedom mechanical arm, the walking driving motor 3, the wireless communication module 17-2, the monitoring camera 16, the joint driving motor, the binocular camera 12, the lighting device and the electric control cleaning component are respectively electrically connected with the controller 17-1, the controller 17-1 is driven by controlling the walking driving motor 3 to rotate the moving wheels 2, and the controller 17-1 is used for controlling the multi-degree-of The monitoring camera 16 is used for collecting videos in the pipeline, the binocular camera 12 is used for collecting images of a defect area of the pipeline, and the electronic control cleaning component is used for removing impurities on the wall of the pipeline; the controller 17-1 is in communication connection with the remote monitoring terminal 18 through the wireless communication module 17-2. The controller 17-1 and the wireless communication module 17-2 are arranged in the control box 17, and the control box 17 is fixed on the robot body 1.

The multi freedom arm is three freedom arms, and including waist joint 7, shoulder joint 9, elbow joint 11, it is a plurality of joint driving motor is first joint driving motor 6, second joint driving motor 8, third joint driving motor 10 respectively, waist joint 7 is connected with first joint driving motor 6 drive, first joint driving motor 6 is fixed on the robot fuselage 1, respectively through second joint driving motor 8 and third joint driving motor 10 drive connection between waist joint 7, shoulder joint 9 and the elbow joint 11, elbow joint 11's end sets up binocular camera 12 and automatically controlled cleaning assembly.

The electric control cleaning assembly comprises a cleaning motor 15, an electric control telescopic rod 14 and a brush head 13, the electric control telescopic rod 14 is connected with a rotating shaft of the cleaning motor 15, the brush head 13 is arranged at the tail end of the electric control telescopic rod 14, and the cleaning motor 15 and the electric control telescopic rod 14 are respectively electrically connected with the controller 17-1.

Two sides of the robot body 1 are respectively provided with two anti-collision wheels 5. The anti-collision wheels 5 can play a supporting role when the robot turns on one side. The anti-collision wheel 5 is a rubber wheel and is used for ensuring the safety of the machine body.

The robot comprises a robot body 1 and is characterized in that ultrasonic sensors 4 are respectively arranged at the front side, the rear side, the left side and the right side of the robot body 1, and the ultrasonic sensors 4 are electrically connected with a controller 17-1.

The remote monitoring terminal 18 is a cloud server, a mobile terminal or a monitoring computer.

The wireless communication module 17-2 is a GPRS module, a ZIGBEE module or a WIFI module.

The bottom of the robot body 1 is provided with a power supply module, such as a storage battery, for supplying power to the robot. The controller 17-1 can adopt MEGA2560, has 54 paths of digital input and output, and meets the requirements of externally connecting a large number of sensors with the robot and controlling a plurality of motors.

Remove wheel 2 and can choose for use to be the ford wheel, the ford wheel has the omnidirectional movement ability, the ford wheel is provided with four, sets up four angles in robot body bottom, and adjacent two the axially perpendicular setting of ford wheel, wherein, the ford wheel in right front and left back position is vertical drive wheel, and the ford wheel in left front and right back is horizontal drive wheel, and the walking driving motor adopts four direct current gear motor, and controller 17-1 produces four ways PWM signal, through four direct current gear motor's of drive circuit control rotational speed, realizes the violently indulges, diagonal and the spin motion of robot to accomplish the robot and advance in arbitrary direction, the bottom of robot body still is provided with horizontal arm-type suspension system, sets up with removing the wheel cooperation.

According to the intelligent pipeline detection robot, firstly, a multi-degree-of-freedom mechanical arm is arranged on a robot body and used for carrying a binocular camera and an electric control cleaning assembly, so that on one hand, accurate collection of images of a pipeline defect area can be achieved, on the other hand, dirt on the surface of a pipe wall can be cleared through the electric control cleaning assembly, and therefore the defect of the pipe wall can be observed conveniently; secondly, a monitoring camera is further arranged and matched with the binocular camera, so that the complete image in the pipeline can be collected, the moving position of the robot can be monitored, and the accuracy and the comprehensiveness of the image can be ensured; thirdly, two sides of the robot body are respectively provided with two anti-collision wheels, and the anti-collision wheels can prevent the robot body from colliding with the pipe wall on one hand and can play a role in balance support on the other hand so as to prevent the robot from turning on one side in the arc pipeline; meanwhile, the ultrasonic sensor is matched, so that obstacles around the robot can be monitored, and the driving condition of the trolley can be controlled.

As shown in fig. 4, the present invention further provides a control method of an intelligent pipeline inspection robot, which is applied to the intelligent pipeline inspection robot, and includes the following steps:

the method comprises the steps that a monitoring camera collects global images in a pipeline in real time, the global images are transmitted to a controller and are transmitted to a remote monitoring terminal through a wireless communication module, and a pipeline defect area to be detected is determined;

carrying out target identification and semantic segmentation on the pipeline defect area to be detected by utilizing a neural network algorithm, and acquiring the central coordinate position of the pipeline defect area to be detected relative to the robot;

the robot carries out autonomous positioning navigation based on the SLAM technology and moves to the position of the pipeline defect area to be detected;

the controller controls the electric control cleaning assembly to clean the pipeline wall, and clear close-up images of the pipeline defects are acquired through the binocular camera.

Wherein, the clean pipe wall of automatically controlled clean subassembly of controller control obtains clear pipeline defect close-up image through binocular camera, specifically includes:

the controller controls the multi-degree-of-freedom mechanical arm to adjust the cleaning position of the electric control cleaning assembly and the shooting angle of the binocular camera;

the controller controls the electric control telescopic rod to adjust the extending length of the brush head, and then controls the cleaning motor to control the brush head to rotate so as to clean impurities on the wall of the pipeline;

after the electric control cleaning assembly is cleaned, the binocular camera shoots clear close-up images of the pipeline defects, transmits the close-up images to the controller and transmits the close-up images to the remote monitoring terminal through the wireless communication module.

The control method of the intelligent pipeline detection robot provided by the invention has the advantages that the trained deep neural network is used for carrying out target detection and environment semantic segmentation on a disinfected object, and the central coordinate position of a pipeline defect area to be detected relative to the robot is identified and obtained; after the relative position of a pipeline defect area to be detected is obtained, the autonomous positioning and mapping functions of the robot are realized through the SLAM technology of fusing various sensor information such as vision, ultrasonic waves and the like, the coordinate position of the pipeline defect area to be detected in a map is calculated, the robot moves towards the pipeline defect area to be detected through real-time obstacle avoidance path planning, the perception of the surrounding environment is required to be kept in the moving process, the real-time map construction and updating are carried out, the self positioning is obtained, and the processes are repeated until the pipeline defect area to be detected is approached; after the pipeline defect area to be detected is approached, the accurate three-dimensional model information of the pipeline defect area to be detected is obtained through a binocular camera on the mechanical arm, the accurate position relation is calculated, the flexible control parameter process of the multi-degree-of-freedom mechanical arm is fused, the track of the robot for cleaning impurities is automatically generated, the self-adaptive online planning of the track of the robot is realized, and the cleaned pipeline defect image is collected.

The principles and embodiments of the present invention have been described herein using specific examples, which are provided only to help understand the method and the core concept of the present invention; meanwhile, for a person skilled in the art, according to the idea of the present invention, the specific embodiments and the application range may be changed. In view of the above, the present disclosure should not be construed as limiting the invention.