Control system, method and device of pipeline robot, electronic equipment and medium

A pipeline robot and control system technology, applied in mechanical equipment, pipes/pipe joints/pipe fittings, instruments, etc., to achieve the effect of improving timeliness and improving control accuracy

Pending Publication Date: 2022-03-18
WUHAN INSTITUTE OF TECHNOLOGY +1
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0003] The technical problem to be solved by the present invention is to provide a control system, method, device, electronic equipment and medium of a pipeline robot, aiming at solving the problem of improving the control accuracy of pipeline robots

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  • Control system, method and device of pipeline robot, electronic equipment and medium
  • Control system, method and device of pipeline robot, electronic equipment and medium
  • Control system, method and device of pipeline robot, electronic equipment and medium

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Embodiment Construction

[0039] The principles and features of the present invention are described below, and the examples given are only used to explain the present invention, and are not intended to limit the scope of the present invention.

[0040] The technical solution of the present invention and how the technical solution of the present invention solves the above technical problems will be described in detail below with specific embodiments. The following specific embodiments may be combined with each other, and the same or similar concepts or processes may not be repeated in some embodiments. Embodiments of the present invention will be described below with reference to the accompanying drawings.

[0041] The embodiment of the present invention provides a possible implementation, such as figure 1 As shown in , a structural schematic diagram of a pipeline robot control system is provided, as shown in figure 1 As shown in the schematic diagram, the control system may include:

[0042] A proce...

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Abstract

The invention relates to a control system, method and device of a pipeline robot, electronic equipment and a medium. The control system comprises a processor and a main control driving circuit which are arranged in the pipeline robot, and a pose sensor and a pressure sensor which are arranged on the pipeline robot; the main control driving circuit, the pose sensor and the pressure sensor are respectively connected with the processor; and the processor is used for obtaining the current pose information and the current pressure, determining the speed difference between the two driving wheels according to the current pose information and the current pressure, and adjusting the current pose of the pipeline robot and the current pressure of the two driving wheels through the main control driving circuit according to the speed difference. By means of the control system, the speed difference can be determined based on the current pose information and the current pressure, control over the pose of the pipeline robot in the pipeline and the pressure of the driving wheels can be achieved at the same time, and the control precision can be improved.

Description

technical field [0001] The present invention relates to the field of automatic control, in particular, the present invention relates to a control system, method, device, electronic equipment and medium of a pipeline robot. Background technique [0002] In recent years, robots have been widely used in the field of pipeline inspection. The existing control method is usually a single control method, that is, one parameter of the robot is controlled at a time. For straight pipelines, the robot is usually controlled to advance in the pipeline through this single control method, which can meet The robot needs to complete the work smoothly, but for pipelines with relatively complex structures, such as pipelines including corners and uphill and downhill roads, a control system with higher control accuracy is required to meet the normal work of robots in complex pipelines. Therefore, the existing The problem in the technology is how to provide a control system with better control acc...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): F16L55/40F16L55/32F16L55/48H04B3/02G06F13/42F16L101/30
CPCF16L55/40F16L55/32F16L55/48H04B3/02G06F13/4282F16L2101/30
Inventor 喻九阳夏文凤戴耀南胡天豪张德安詹博文程航严艺飞
Owner WUHAN INSTITUTE OF TECHNOLOGY
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