Pipeline cleaning robot control system and method

A control system and control method technology, applied in the direction of program control manipulators, manipulators, manufacturing tools, etc., can solve problems such as unable to meet the needs of power station pipeline cleaning, achieve accurate cleaning, improve efficiency and quality, and reduce costs.

Active Publication Date: 2020-04-07
中广核工程有限公司 +2
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  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0003] Aiming at the problems that the existing pipeline cleaning robot needs to be controlled manually and cannot meet the pipeline cleaning requirements of power stations, the

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  • Pipeline cleaning robot control system and method

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Embodiment Construction

[0031] In order to enable those skilled in the art to understand the present invention more clearly, the present invention will be further described in detail below in conjunction with the accompanying drawings and specific embodiments.

[0032] figure 1 It is a schematic diagram of the pipeline cleaning robot control system provided by the embodiment of the present invention, such as figure 1 As shown, the control system includes a robot 10 for cleaning the pipeline, and also includes an acquisition module 20, a visual computing unit 30 and a control unit 40, the acquisition module 20 is installed on the robot 10, and is used to acquire the first image of the inner wall of the pipeline in real time; The visual calculation unit 30 is connected to the acquisition module 20, and is used to judge whether there is an object to be cleaned on the inner wall of the pipeline according to the first image; if so, calculate the preliminary position of the object to be cleaned and plan th...

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Abstract

The invention provides a pipeline cleaning robot control system and method. The control system comprises a robot used for cleaning a pipeline and further comprises a collection module, a visual calculation unit and a control unit, the collection module is used for collecting the inner wall of the pipeline in real time to obtain a first image, and the visual calculation unit is used for judging whether there is a to-be-cleaned object on the inner wall of the pipeline according to the first image; if YES, the initial position of the to-be-cleaned object is calculated, a walking route is planned,and the control unit is used for controlling the robot to advance to the initial position according to the walking route; the collection module is further used for collecting the to-be-cleaned objectto obtain a second image, and the visual calculation unit is further used for calculating the accurate position of the to-be-cleaned object according to the second image and planning a cleaning route; the control unit is further used for controlling the robot to execute the cleaning according to the cleaning route. According to the pipeline cleaning robot control system and method, intelligent control over the robot is improved, the cleaning cost for the interior of the pipeline is reduced, and a good technical effect is achieved.

Description

technical field [0001] The invention relates to the technical field of robot control, in particular to a pipeline robot control system and method. Background technique [0002] Power station pipelines are generally welded one by one. These pipelines will have dust or foreign matter entering during welding and construction before use, as well as debris such as iron filings from pipe weld grinding. These dust and foreign matter or The iron filings must be cleaned up before using the pipeline, otherwise the gas and liquid transported by the pipeline will be polluted during the operation of the power station, and even cause equipment failure. However, due to the limitation of the length of the pipeline and the inner diameter of the pipeline, it is difficult to complete the dust removal and cleaning of many pipelines manually. With the development of science and technology, related dust removal robots have appeared on the market, such as household sweeping robots and pipe cleani...

Claims

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Application Information

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IPC IPC(8): B25J9/16B25J19/00
CPCB25J9/1697B25J19/00
Inventor 陈映坚郑爽刘稳产胡小立王东陈和平李付良李耀楠朱德才康泽坛谭文良
Owner 中广核工程有限公司
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