Control method of long-distance water supply pipeline detection robot

Abstract

The invention discloses a control method for a long-distance water supply pipeline detection robot. A control mode combining remote control and local autonomous operation is adopted. The local autonomous operation comprises motor overload adjustment control and pose automatic adjustment control; in order to detect the overload state of a driving motor in real time in the detection process, the robot adopts an encoder mounted on a driving wheel of a mobile carrier; in order to automatically adjust the pose and ensure the stability of the pose of the robot, the robot adopts an inertial measurement unit. The robot has the capabilities of remote speed and direction control, automatic pose adjustment, overload protection, overturn prevention and the like; the adaptive capacity to a complex pipeline environment can be improved, the driving force of the pipeline detection robot is improved, the pipeline detection robot adapts to a wet, slippery and rugged pipeline environment, the stability of the pipeline detection robot is improved, and the pipeline detection robot is prevented from overturning in a pipeline; and by combining multi-sensor data, accurate positioning of the robot in the pipeline is completed, and pipeline detection information is accurately associated with the pipeline position.

Description

technical field [0001] The invention relates to the technical field of marine equipment, in particular to a control method for a long-distance water supply pipeline detection robot. Background technique [0002] In order to meet the growing demand for urban water supply, my country has built a large number of long-distance water supply pipeline projects, which have played an important role in ensuring the safety of urban water supply, industrial development and social stability. With the increase of operation time, these pipeline projects have also experienced local deformation, rupture, collapse, erosion, corrosion, water and mud inrush and other dangerous conditions. In order to ensure the safety of the project, regular safety evaluation is required. It is necessary to develop a pipeline detection robot, which can quantitatively, timely and comprehensively cover the structural safety of pipeline engineering, and accurately associate the pipeline detection information with ...

AI Technical Summary

Problems solved by technology

However, there are as many as 12 peristaltic elements in this scheme, which limits the moving speed of the pipeline robot and increases the control complexity of the pipeline robot

[0004] The existing technology mainly has two shortcomings. First, the design of the control system of the detection robot is not perfect, and the autonomous operation ability is relatively poor.

Second, the accurate positioning inside the pipeline cannot be completed, and the pipeline information cannot be accurately associated with the pipeline position

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