Adaptive Pipe Diameter Adjustment Control Method and Device for Tracked Pipeline Robot

Abstract

This application discloses an adaptive pipe diameter adjustment control method and device for a tracked pipeline robot. The method includes: acquiring the current position, pose, and pipe diameter information of the underground pipeline; mathematically modeling the adaptive pipe diameter adjustment mechanism and solving the mathematical model of the adaptive pipe diameter adjustment mechanism; determining the vertical plane dynamic model of the adaptive pipe diameter adjustment control mode of the adaptive pipe diameter adjustment mechanism based on the solution results; determining the deployment mode of the adaptive pipe diameter adjustment mechanism of the pipeline robot under different pipe diameters and different pipe poses, so that the overall volume of the pipeline robot can adapt to the pipe diameter of different underground pipelines; determining whether the desired pressure value is met; if the current pressure value is not met, restarting the control of the linkage drive electric cylinder of the pipeline robot until the pressure value meets the requirements. This application improves the operational stability of the pipeline robot and enables it to perform operations such as pipeline dredging better.

Description

Technical Field

[0001] This application relates to a novel adaptive pipe diameter robot adjustment structure and an adaptive pipe diameter control algorithm for the adaptive pipe diameter robot adjustment structure, particularly a pipe robot that passes through an adjustment mechanism in different pipe diameters with an attitude that best fits the inner wall of the pipe. Background Technology

[0002] With the continuous improvement of urban modernization, the dredging of urban underground pipeline systems has become a significant factor affecting residents' lives. Due to the narrowness and darkness of underground drainage pipes, manual dredging operations are extremely inconvenient, creating an urgent need for equipment suitable for dredging within pipelines. Pipeline dredging robots, as such suitable equipment, have emerged as a result. The research and development of pipeline dredging robots is a product of the times, an organic combination of technology and information. Currently, many different models of pipeline dredging robots have been put into use, playing a significant role in urban development and management.

[0003] Pipeline dredging robots are limited by the varying inner diameter of pipelines during operation. This causes the robots to be too large to enter the pipeline interior. In addition, due to the varying inner diameter of the pipeline, the bottom of the tracks at the end of the robot's walking device cannot fit well into the pipeline interior, resulting in an unstable chassis and slippage of the tracks. This can cause the robot to malfunction or even block the pipeline.

[0004] Current research on adaptive pipe diameter control for pipeline dredging robots, both domestically and internationally, mainly focuses on three areas: the diameter adjustment capability of non-powered pipeline robots, the diameter adjustment capability of wheeled and tracked pipeline robots, and the diameter adjustment capability of biomimetic pipeline robots. However, current pipeline robots suffer from poor reliable control, inability to achieve precise control, and numerous sliding mode control parameters that are difficult to adjust. Summary of the Invention

[0005] This application provides an adaptive pipe diameter adjustment control method and device for a tracked pipeline robot, which at least solves the above-mentioned technical problems existing in the prior art.

[0006] According to a first aspect of this application, an adaptive pipe diameter adjustment control method for a tracked pipeline robot is provided, the method comprising:

[0007] Collect information on the current location, orientation, and diameter of underground pipelines;

[0008] Identify the adaptive pipe diameter adjustment mechanism in the structure of the pipeline robot, perform mathematical modeling of the adaptive pipe diameter adjustment mechanism, solve the mathematical model of the adaptive pipe diameter adjustment mechanism, and determine the vertical plane dynamic model of the adaptive pipe diameter adjustment control mode of the adaptive pipe diameter adjustment mechanism based on the solution results.

[0009] Based on the vertical plane dynamics model, the deployment mode of the adaptive pipe diameter adjustment mechanism of the pipeline robot under different pipe diameters and different pipe poses is determined so that the overall volume of the pipeline robot can be adapted to the pipe diameter of different underground pipelines.

[0010] The current pressure value is obtained by the pressure sensor on the track of the pipeline robot. It is then determined whether the pressure value meets the expected value. If the pressure value does not meet the expected value, the current pressure value is fed back, and the control of the linkage drive electric cylinder of the pipeline robot is restarted until the pressure value meets the requirements.

[0011] In some optional embodiments, the adaptive pipe diameter adjustment mechanism includes a servo motor, a reducer, a boom, a boom drive element, a connecting rod, a connecting rod drive cylinder, a radar detection module, and a pressure detection module. The boom and the boom drive element are responsible for the extension and folding movements of the adaptive pipe diameter adjustment mechanism outside the pipeline robot. The connecting rod and the connecting rod drive element are responsible for adjusting the angle of the end track assembly of the adaptive pipe diameter adjustment mechanism. The position and angle of the pipeline robot's tracks are changed by controlling the rotation of the servo motor, the extension / retraction of the boom drive element (such as the boom drive cylinder), and the extension / retraction of the connecting rod drive cylinder. The radar detection module is responsible for detecting the location and diameter of the underground pipeline to provide a basis for the extension control of the adaptive pipe diameter adjustment mechanism. The pressure detection module is responsible for detecting the pressure of the tracks on the pipe wall to determine whether the tracks and the inner wall of the pipe are in close contact.

[0012] The motor rotation and electric cylinder extension drive the boom, connecting rod and track to swing perpendicular to the support surface, adjusting the position and angle of the track outside the pipeline robot, thereby making the track fit tightly against the inner wall of the pipeline.

[0013] In some optional embodiments, the vertical plane dynamic model for determining the adaptive pipe diameter adjustment control mode of the adaptive pipe diameter adjustment mechanism based on the solution results includes:

[0014] A virtual coordinate system is established, and the three-degree-of-freedom kinematic equations of the adaptive pipe diameter adjustment mechanism of the pipeline robot are determined as follows:

[0015]

[0016]

[0017] in, As variables, It is the rotation angle of the drive motor. These refer to the extension and retraction amounts of the first and second linkage drive electric cylinders of the adaptive pipe diameter adjustment mechanism, respectively. For pipe diameter, Let be the pipe length. Points B, D, E, and F are the connection nodes and starting points of the movable link of the adaptive pipe diameter adjustment mechanism, respectively, and their x-coordinates are... The vertical axis is , The distances between each node and the starting point are known quantities.

[0018] The force acting on the pipeline robot is expressed by the following formula:

[0019]

[0020] in, For the supporting force of the pipeline support surface, , For connecting force, For the connection force of the pipe support surface, For the torque of the drive motor, For the weight of the connecting rod, For the weight of the boom; The distance from the center of gravity of the boom to the origin. The distance from the center of gravity of the link to the origin, The distance from the track's center of gravity to the origin, The distance from the point of application of the ground support force to the origin. For tracked ground and The included angle of the axis;

[0021] When the pipeline robot is at its extreme lateral displacement position, then:

[0022]

[0023] in: Center of the pipe cross-section For the pipe radius, The mounting point for the traveling mechanism within the vehicle body. for and The horizontal distance between them for and The vertical distance between them The point where the walking device and the track are tangent. For the right track ground The included angle of the axis, Left track ground The included angle of the axis, For the support force of the right track, For the support of the left track, The balancing friction force for the right track. This represents the balancing friction force of the left track.

[0024] In some optional embodiments, the adaptive pipe diameter adjustment mechanism further includes an end effector; the method further includes:

[0025] The motion trajectory of the end effector is planned using the quintic function curve method, and the trajectory of the end effector is tracked by combining the sliding mode control algorithm.

[0026] Introducing intermediate variables The domain is The range is intermediate variables With position variables The relationship between them is:

[0027]

[0028] Location Regarding time Finding the first and second derivatives yields the velocity and acceleration, respectively:

[0029] ,

[0030] The initial and final positions are known, and the changes in velocity and acceleration depend on ;

[0031] Define the quintic function curve as:

[0032]

[0033] The acceleration of the quintic function curve is a cubic function of time, with the acceleration being 0 at both the initial and final moments.

[0034] In some optional embodiments, the method further includes:

[0035] The following describes the design of a neural network-based adaptive sliding mode control to track the trajectory of the end effector:

[0036] The sliding mode function is:

[0037] in, ,but ;

[0038] In the state equation The expression is:

[0039] in, , , ;

[0040] According to sliding mode function and The expression can be obtained as follows:

[0041]

[0042] The sliding mode function for the exponential reaching law is designed as follows:

[0043]

[0044] in, and It is a constant greater than zero. Represents a symbolic function;

[0045] The control law is:

[0046]

[0047] Based on the parameter adaptive algorithm, the parameters are obtained. and The estimated value, using and Indicate; will and Substitution From the expression, we get:

[0048]

[0049] Define Lyapunov functions as follows:

[0050]

[0051] The derivative of V is expressed as:

[0052]

[0053] The adaptive law is:

[0054]

[0055] Substituting the adaptive law into the V derivative function, we get:

[0056] .

[0057] According to a second aspect of this application, an adaptive pipe diameter adjustment control device for a tracked pipeline robot is provided, comprising:

[0058] The data acquisition unit is used to collect information on the current location, orientation, and diameter of the underground pipeline.

[0059] The modeling unit is used to identify the adaptive pipe diameter adjustment mechanism in the structure of the pipeline robot, perform mathematical modeling of the adaptive pipe diameter adjustment mechanism, solve the mathematical model of the adaptive pipe diameter adjustment mechanism, and determine the vertical plane dynamic model of the adaptive pipe diameter adjustment control mode of the adaptive pipe diameter adjustment mechanism based on the solution results.

[0060] The control unit is used to determine the deployment mode of the adaptive pipe diameter adjustment mechanism of the pipeline robot under different pipe diameters and different pipe poses based on the vertical plane dynamic model, so that the overall volume of the pipeline robot can be adapted to the pipe diameter of different underground pipelines.

[0061] The judgment unit is used to obtain the current pressure value through the pressure sensor on the track of the pipeline robot, determine whether it meets the expected pressure value, and if it does not meet the expected pressure value, it will restart the control of the linkage drive electric cylinder of the pipeline robot until the pressure value meets the requirements.

[0062] In some optional embodiments, the adaptive pipe diameter adjustment mechanism includes a servo motor, a reducer, a boom, a boom drive element, a connecting rod, a connecting rod drive cylinder, a radar detection module, and a pressure detection module. The boom and the boom drive element are responsible for the extension and folding movements of the adaptive pipe diameter adjustment mechanism outside the pipeline robot. The connecting rod and the connecting rod drive element are responsible for adjusting the angle of the end track assembly of the adaptive pipe diameter adjustment mechanism. The position and angle of the pipeline robot's tracks are changed by controlling the rotation of the servo motor, the extension / retraction of the boom drive element (such as the boom drive cylinder), and the extension / retraction of the connecting rod drive cylinder. The radar detection module is responsible for detecting the location and diameter of the underground pipeline to provide a basis for the extension control of the adaptive pipe diameter adjustment mechanism. The pressure detection module is responsible for detecting the pressure of the tracks on the pipe wall to determine whether the tracks and the inner wall of the pipe are in close contact.

[0063] The motor rotation and electric cylinder extension drive the boom, connecting rod and track to swing perpendicular to the support surface, adjusting the position and angle of the track outside the pipeline robot, thereby making the track fit tightly against the inner wall of the pipeline.

[0064] In some optional embodiments, the modeling unit is further configured to:

[0065] A virtual coordinate system is established, and the three-degree-of-freedom kinematic equations of the adaptive pipe diameter adjustment mechanism of the pipeline robot are determined as follows:

[0066]

[0067]

[0068] in: As variables, It is the rotation angle of the drive motor. These refer to the extension and retraction amounts of the first and second linkage drive electric cylinders of the adaptive pipe diameter adjustment mechanism, respectively. For pipe diameter, Let be the pipe length. Points B, D, E, and F are the connection nodes and starting points of the movable link of the adaptive pipe diameter adjustment mechanism, respectively, and their x-coordinates are... The vertical axis is , The distances between each node and the starting point are known quantities.

[0069] The force acting on the pipeline robot is expressed by the following formula:

[0070]

[0071] in, For the supporting force of the pipeline support surface, , For connecting force, For the connection force of the pipe support surface, For the torque of the drive motor, For the weight of the connecting rod, For the weight of the boom; The distance from the center of gravity of the boom to the origin. The distance from the center of gravity of the link to the origin, The distance from the track's center of gravity to the origin, The distance from the point of application of the ground support force to the origin. For tracked ground and The included angle of the axis;

[0072] When the pipeline robot is at its extreme lateral displacement position, then:

[0073]

[0074] in: Center of the pipe cross-section For the pipe radius, The mounting point for the traveling mechanism within the vehicle body. for and The horizontal distance between them for and The vertical distance between them The point where the walking device and the track are tangent. For the right track ground The included angle of the axis, Left track ground The included angle of the axis, For the support force of the right track, For the support of the left track, The balancing friction force for the right track. This represents the balancing friction force of the left track.

[0075] In some optional embodiments, the adaptive pipe diameter adjustment mechanism further includes an end effector; the device further includes:

[0076] The tracking unit is used to plan the motion trajectory of the end effector using the quintic function curve method and to track the trajectory of the end effector using the sliding mode control algorithm.

[0077] Introducing intermediate variables The domain is The range is intermediate variables With position variables The relationship between them is:

[0078]

[0079] Location Regarding time Finding the first and second derivatives yields the velocity and acceleration, respectively:

[0080] ,

[0081] The initial and final positions are known, and the changes in velocity and acceleration depend on ;

[0082] Define the quintic function curve as:

[0083]

[0084] The acceleration of the quintic function curve is a cubic function of time, with the acceleration being 0 at both the initial and final moments.

[0085] In some optional embodiments, the tracking unit is further configured to:

[0086] The following describes the design of a neural network-based adaptive sliding mode control to track the trajectory of the end effector:

[0087] The sliding mode function is:

[0088] in, ,but ;

[0089] In the state equation The expression is:

[0090] in, , , ;

[0091] According to sliding mode function and The expression can be obtained as follows:

[0092]

[0093] The sliding mode function for the exponential reaching law is designed as follows:

[0094]

[0095] in, and It is a constant greater than zero. Represents a symbolic function;

[0096] The control law is:

[0097]

[0098] Based on the parameter adaptive algorithm, the parameters are obtained. and The estimated value, using and Indicate; will and Substitution From the expression, we get:

[0099]

[0100]

[0101] Define Lyapunov functions as follows:

[0102]

[0103] The derivative of V is expressed as:

[0104]

[0105] The adaptive law is:

[0106]

[0107] Substituting the adaptive law into the V derivative function, we get:

[0108] .

[0109] According to a third aspect of this application, an electronic device is provided, comprising:

[0110] At least one processor; and

[0111] A memory communicatively connected to the at least one processor; wherein,

[0112] The memory stores instructions that can be executed by the at least one processor, which, when executed by the at least one processor, enables the at least one processor to perform the steps of the adaptive pipe diameter adjustment control method for the tracked pipeline robot described in this application.

[0113] According to a fourth aspect of this application, a non-transitory computer-readable storage medium is provided storing computer instructions for causing the computer to perform the steps of the adaptive pipe diameter adjustment control method for a tracked pipeline robot described in this application.

[0114] The adaptive pipe diameter adjustment control method and device for tracked pipeline robots disclosed in this application effectively solves the problem of adaptive pipe diameter control for pipeline robots when the inner diameter of the pipe varies. By controlling the adjustment mechanism, the robot's tracks can maintain a close and constant position against the inner wall of the pipe, achieving adaptive pipe diameter control. The adaptive pipe diameter adjustment mechanism of this application is compact and makes reasonable use of space, fully utilizing the structural features of the pipeline robot's adjustment mechanism to greatly improve the stability of the robot's movement within the pipe and make the robot's chassis more stable. The tracked pipeline robot of this application is suitable for pipe diameters ranging from 800mm to 1500mm and can adaptively control itself according to the inner diameter of the pipe. The use of a neural network algorithm for precise depth control further enhances the pipe diameter adaptability of the pipeline robot.

[0115] It should be understood that the description in this section is not intended to identify key or essential features of the embodiments of this application, nor is it intended to limit the scope of this application. Other features of this application will become readily apparent from the following description. Attached Figure Description

[0116] The above and other objects, features, and advantages of exemplary embodiments of this application will become readily apparent from the following detailed description taken in conjunction with the accompanying drawings. Several embodiments of this application are illustrated in the drawings by way of example and not limitation, in which:

[0117] In the accompanying drawings, the same or corresponding reference numerals indicate the same or corresponding parts.

[0118] Figure 1A flowchart illustrating the adaptive pipe diameter adjustment control method for a tracked pipeline robot according to an embodiment of this application is shown.

[0119] Figure 2 This is a schematic diagram of the adaptive pipe diameter adjustment mechanism of the tracked pipeline robot according to an embodiment of this application;

[0120] Figure 3 This diagram illustrates the forces acting on a tracked pipeline robot within a pipeline, according to an embodiment of this application.

[0121] Figure 4 A schematic diagram of the overall control algorithm for the adjustment mechanism of the tracked pipeline robot;

[0122] Figure 5 A schematic diagram of the adaptive pipe diameter adjustment control device for a tracked pipeline robot according to an embodiment of this application is shown. Detailed Implementation

[0123] To make the objectives, features, and advantages of this application more apparent and understandable, the technical solutions in the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0124] Figure 1 A flowchart illustrating the adaptive pipe diameter adjustment control method for a tracked pipeline robot according to an embodiment of this application is shown, as follows: Figure 1 As shown, the adaptive pipe diameter adjustment control method for a tracked pipeline robot according to an embodiment of this application includes the following steps:

[0125] Step 101: Collect information on the current location, orientation, and diameter of the underground pipeline.

[0126] In this embodiment, the location, orientation, and diameter information of the underground pipeline are obtained through the construction design drawings. Alternatively, the location, orientation, and diameter information of the pipeline are detected using detection instruments to determine the pipeline's location, orientation, and route.

[0127] Step 102: Identify the adaptive pipe diameter adjustment mechanism in the structure of the pipeline robot, perform mathematical modeling of the adaptive pipe diameter adjustment mechanism, and solve the mathematical model of the adaptive pipe diameter adjustment mechanism. Based on the solution results, determine the vertical plane dynamic model of the adaptive pipe diameter adjustment control mode of the adaptive pipe diameter adjustment mechanism.

[0128] The technical solution of this application mainly involves extending and retracting the adaptive pipe diameter adjustment mechanism of the tracked pipeline robot to adapt its overall volume to the inner diameter of the pipe, thereby ensuring that the tracked pipeline robot can move in different pipe diameters.

[0129] Figure 2 This is a schematic diagram of the adaptive pipe diameter adjustment mechanism of the tracked pipeline robot according to an embodiment of this application, as shown below. Figure 2 As shown, the adaptive pipe diameter adjustment mechanism of the tracked pipeline robot in this embodiment includes: a servo motor 10, a reducer 11, a boom 12, a boom drive element 13, a connecting rod 14, a connecting rod drive cylinder 15, and a radar detection module. Figure 2 (not shown in the image) and pressure detection module ( Figure 2 (Not shown in the image). This tracked pipeline robot is suitable for operation in pipes with diameters ranging from 800mm to 1500mm.

[0130] The radar detection module is primarily responsible for detecting the location and diameter of underground pipelines, providing a basis for the extension control of the adaptive pipe diameter adjustment mechanism. The pressure detection module is mainly responsible for detecting the pressure of the tracks against the pipe wall, providing a basis for feedback control to ensure tight contact between the tracks and the pipe wall. The pressure sensor on the tracks acquires the current pressure value in real time, determines whether it meets the desired pressure value, and if not, uses the current pressure value as feedback to the controller, restarting a new round of control on the linkage-driven electric cylinder until the requirement is met. The pressure formula is as follows:

[0131]

[0132] in This represents the pressure exerted by the robot on the pipe wall. This refers to the total weight of the pipeline dredging robot. Let be the angle between the tracked surface and the x-axis. The ideal pressure exerted by the current pipeline dredging robot on the pipeline can be calculated using the above formula. .

[0133] The boom and boom drive components are responsible for the extension and folding movements of the adaptive pipe diameter adjustment mechanism outside the pipe robot. The linkage and linkage drive components are responsible for adjusting the angle of the end-plate assembly of the adaptive pipe diameter adjustment mechanism. The position and angle of the pipe robot's tracks are changed by controlling the rotation of the servo motor, the extension and retraction of the boom drive components such as the boom drive cylinder, and the extension and retraction of the linkage drive cylinder. The motor rotation and cylinder extension and retraction drive the boom, linkage, and tracks to swing perpendicular to the support surface, adjusting the position and angle of the tracks outside the pipe robot, thereby ensuring that the tracks fit tightly against the inner wall of the pipe.

[0134] Step 103: Based on the vertical plane dynamics model, determine the deployment mode of the adaptive pipe diameter adjustment mechanism of the pipeline robot under different pipe diameters and different pipe poses, so that the overall volume of the pipeline robot can be adapted to the pipe diameter of different underground pipelines.

[0135] In this embodiment of the application, the vertical plane dynamic model for determining the adaptive pipe diameter adjustment control mode of the adaptive pipe diameter adjustment mechanism based on the solution results includes:

[0136] A virtual coordinate system is established, and the three-degree-of-freedom kinematic equations of the adaptive pipe diameter adjustment mechanism of the pipeline robot are determined as follows:

[0137]

[0138]

[0139] in: As variables, It is the rotation angle of the drive motor. These refer to the extension and retraction amounts of the first and second linkage drive electric cylinders of the adaptive pipe diameter adjustment mechanism, respectively. For pipe diameter, Let be the pipe length. Points B, D, E, and F are the connection nodes and starting points of the movable link of the adaptive pipe diameter adjustment mechanism, respectively, and their x-coordinates are... The vertical axis is , The distances between each node and the starting point are known quantities.

[0140] Figure 3 This illustration shows a force diagram of a tracked pipeline robot in a pipeline according to an embodiment of this application, as follows: Figure 3 As shown, the force acting on the pipeline robot is expressed by the following formula:

[0141]

[0142] in, For the supporting force of the pipeline support surface, , For connecting force, For the connection force of the pipe support surface, For the torque of the drive motor, For the weight of the connecting rod, For the weight of the boom, ; The distance from the center of gravity of the boom to the origin. The distance from the center of gravity of the link to the origin, The distance from the track's center of gravity to the origin, The distance from the point of application of the ground support force to the origin. For tracked ground and The included angle of the axis; such as Figure 3 As shown, the corresponding distance and force are defined.

[0143] When the pipeline robot is at its extreme lateral displacement position, then:

[0144]

[0145] in: Center of the pipe cross-section For the pipe radius, The mounting point for the traveling mechanism within the vehicle body. for and The horizontal distance between them for and The vertical distance between them The point where the walking device and the track are tangent. For the right track ground The included angle of the axis, Left track ground The included angle of the axis, For the support force of the right track, For the support of the left track, The balancing friction force for the right track. For the balancing friction force of the left track, such as Figure 3 As shown in the figure. The included angles are shown in the figure, and the distance markings are also shown in the figure. Figure 3 As shown.

[0146] The adaptive pipe diameter adjustment mechanism in this application embodiment also includes an end effector; Figure 4 To illustrate the overall control algorithm for the adjustment mechanism of the tracked pipeline robot, as shown in the diagram... Figure 4 As shown, the embodiments of this application mainly use pressure sensors to transmit the pressure value of the robot on the inner wall of the pipe in real time, determine whether the current pressure has reached the expected pressure value, and transmit the difference between the two back to the controller until the value output by the controller remains unchanged within the expected pressure range, until the next pressure command is received and changes occur.

[0147] The motion trajectory of the end effector is planned using the quintic function curve method, and the trajectory of the end effector can be tracked with high accuracy by combining it with the sliding mode control algorithm.

[0148] Specifically, first, a motion trajectory for the end effector is planned. This trajectory planning is essentially point-to-point trajectory planning. The point-to-point trajectory planning algorithm calculates the trajectory from the known initial position within a given time T. Move to a known termination position The method also includes the planning of velocity and acceleration.

[0149] To plan point-to-point motion trajectories, intermediate variables are introduced. The domain is The range is intermediate variables With position variables The relationship between them:

[0150]

[0151] Location Regarding time Finding the first and second derivatives yields the velocity and acceleration, respectively:

[0152] ,

[0153] Since the initial and final positions are known, the changes in velocity and acceleration depend on... Introducing intermediate variables Common methods include cubic function curves, quintic function curves, trapezoidal curves, and S-shaped curves.

[0154] Set intermediate variables Since the acceleration of a cubic function curve is a linear function of time and its initial value is not zero, the acceleration becomes discontinuous at the start and end times. This can cause abrupt changes in computation. To solve the problem of discontinuous acceleration in a cubic function curve, a quintic function curve is defined as follows:

[0155]

[0156] The acceleration of a quintic function curve is a cubic function of time, so the acceleration is zero at both the initial and final moments. Therefore, the quintic function curve solves the problem of discontinuous acceleration that exists in cubic function curves.

[0157] In this embodiment, a neural network adaptive sliding mode control is designed to track the trajectory of the end effector.

[0158] Set the sliding mode function as follows:

[0159]

[0160] in .but .

[0161] Before designing the adaptive law, it is necessary to consider the state equations. The expression is:

[0162]

[0163] in , , .

[0164] According to sliding mode function and The expression can be obtained as follows:

[0165]

[0166] The sliding mode function for the exponential reaching law is designed as follows:

[0167]

[0168] in, and It is a constant greater than zero. Represents a symbolic function.

[0169] Its control law is:

[0170]

[0171] Based on the parameter adaptive algorithm, the parameters are obtained. and The estimated value. Using and Indicate. Will and Substitution From the expression, we get:

[0172]

[0173]

[0174] Define the Lyapunov function as follows:

[0175]

[0176] The derivative of V can be expressed as:

[0177]

[0178] The adaptive law is:

[0179]

[0180] Substituting the adaptive law into the V derivative function, we get:

[0181] .

[0182] Step 104: Obtain the current pressure value through the pressure sensor on the track of the pipeline robot, determine whether it meets the expected pressure value, and if it does not meet the expected pressure value, feed back the current pressure value and restart control of the linkage drive electric cylinder of the pipeline robot until the pressure value meets the requirements.

[0183] The pipeline robot of this application embodiment is suitable for smooth adaptive pipe diameter movement under different pipe diameters of 800mm~1500mm; the embodiment of this application uses a neural network algorithm to evaluate the system output and error value, thereby optimizing the parameters in sliding mode control and realizing closed-loop control.

[0184] The technical solution of this application effectively solves the problem of adaptive pipe diameter control for tracked pipeline robots when the inner diameter of the pipe varies. By controlling and adjusting the mechanism, the robot's tracks can maintain a close and constant position against the inner wall of the pipe, achieving adaptive pipe diameter control. The adaptive pipe diameter adjustment mechanism of this application is compact and makes reasonable use of space, fully utilizing the structural characteristics of the pipeline robot's adjustment mechanism to greatly improve the stability of the robot's movement within the pipe and make the robot's chassis more stable. The tracked pipeline robot of this application is suitable for pipe diameters ranging from 800mm to 1500mm, and can adaptively control according to the inner diameter of the pipe. It is well-suited for combination with sliding mode control and employs a neural network algorithm for precise depth control, further enhancing the pipe diameter adaptability of the pipeline robot.

[0185] Figure 5 A schematic diagram of the adaptive pipe diameter adjustment control device for a tracked pipeline robot according to an embodiment of this application is shown, as follows: Figure 5 As shown, the adaptive pipe diameter adjustment control device for the tracked pipeline robot in this application embodiment includes:

[0186] The acquisition unit 50 is used to acquire information on the current location, orientation, and diameter of the underground pipeline.

[0187] Modeling unit 51 is used to identify the adaptive pipe diameter adjustment mechanism in the structure of the pipeline robot, perform mathematical modeling of the adaptive pipe diameter adjustment mechanism, solve the mathematical model of the adaptive pipe diameter adjustment mechanism, and determine the vertical plane dynamic model of the adaptive pipe diameter adjustment control mode of the adaptive pipe diameter adjustment mechanism based on the solution results.

[0188] The control unit 52 is used to determine the deployment mode of the adaptive pipe diameter adjustment mechanism of the pipeline robot under different pipe diameters and different pipe poses based on the vertical plane dynamic model, so that the overall volume of the pipeline robot can be adapted to the pipe diameter of different underground pipelines.

[0189] The judgment unit 53 is used to obtain the current pressure value through the pressure sensor on the track of the pipeline robot, determine whether it meets the expected pressure value, and if it does not meet the expected pressure value, it will restart the control of the linkage drive electric cylinder of the pipeline robot until the pressure value meets the requirements.

[0190] In some optional embodiments, the adaptive pipe diameter adjustment mechanism includes a servo motor, a reducer, a boom, a boom drive element, a connecting rod, a connecting rod drive cylinder, a radar detection module, and a pressure detection module. The boom and the boom drive element are responsible for the extension and folding movements of the adaptive pipe diameter adjustment mechanism outside the pipeline robot. The connecting rod and the connecting rod drive element are responsible for adjusting the angle of the end track assembly of the adaptive pipe diameter adjustment mechanism. The position and angle of the pipeline robot's tracks are changed by controlling the rotation of the servo motor, the extension / retraction of the boom drive element (such as the boom drive cylinder), and the extension / retraction of the connecting rod drive cylinder. The radar detection module is responsible for detecting the location and diameter of the underground pipeline to provide a basis for the extension control of the adaptive pipe diameter adjustment mechanism. The pressure detection module is responsible for detecting the pressure of the tracks on the pipe wall to determine whether the tracks and the inner wall of the pipe are in close contact.

[0191] The motor rotation and electric cylinder extension drive the boom, connecting rod and track to swing perpendicular to the support surface, adjusting the position and angle of the track outside the pipeline robot, thereby making the track fit tightly against the inner wall of the pipeline.

[0192] In some optional embodiments, the modeling unit 51 is further configured to:

[0193] A virtual coordinate system is established, and the three-degree-of-freedom kinematic equations of the adaptive pipe diameter adjustment mechanism of the pipeline robot are determined as follows:

[0194]

[0195]

[0196] in: As variables, It is the rotation angle of the drive motor. These refer to the extension and retraction amounts of the first and second linkage drive electric cylinders of the adaptive pipe diameter adjustment mechanism, respectively. For pipe diameter, Let be the pipe length. Points B, D, E, and F are the connection nodes and starting points of the movable link of the adaptive pipe diameter adjustment mechanism, respectively, and their x-coordinates are... The vertical axis is , The distances between each node and the starting point are known quantities.

[0197] The force acting on the pipeline robot is expressed by the following formula:

[0198]

[0199] in, For the supporting force of the pipeline support surface, , For connection force, For the torque of the drive motor, For the weight of the connecting rod, For the weight of the boom; The distance from the center of gravity of the boom to the origin. The distance from the center of gravity of the link to the origin, The distance from the track's center of gravity to the origin, The distance from the point of application of the ground support force to the origin. For tracked ground and The included angle of the axis;

[0200] When the pipeline robot is at its extreme lateral displacement position, then:

[0201]

[0202] in: Center of the pipe cross-section For the pipe radius, The mounting point for the traveling mechanism within the vehicle body. for and The horizontal distance between them for and The vertical distance between them The point where the walking device and the track are tangent. For the right track ground The included angle of the axis, Left track ground The included angle of the axis, For the support force of the right track, For the support of the left track, The balancing friction force for the right track. This represents the balancing friction force of the left track.

[0203] In some optional embodiments, the adaptive pipe diameter adjustment mechanism further includes an end effector; the device further includes:

[0204] Tracking unit ( Figure 5 (not shown in the figure) is used to plan the motion trajectory of the end effector using the quintic function curve method, and to track the trajectory of the end effector in combination with the sliding mode control algorithm;

[0205] Introducing intermediate variables The domain is The range is intermediate variables With position variables The relationship between them is:

[0206]

[0207] Location Regarding time Finding the first and second derivatives yields the velocity and acceleration, respectively:

[0208] ,

[0209] The initial and final positions are known, and the changes in velocity and acceleration depend on ;

[0210] Define the quintic function curve as:

[0211]

[0212] The acceleration of the quintic function curve is a cubic function of time, with the acceleration being 0 at both the initial and final moments.

[0213] In some optional embodiments, the tracking unit is further configured to:

[0214] The following describes the design of a neural network-based adaptive sliding mode control to track the trajectory of the end effector:

[0215] The sliding mode function is:

[0216] in, ,but ;

[0217] In the state equation The expression is:

[0218] in, , , ;

[0219] According to sliding mode function and The expression can be obtained as follows:

[0220]

[0221] The sliding mode function for the exponential reaching law is designed as follows:

[0222]

[0223] in, and It is a constant greater than zero. Represents a symbolic function;

[0224] The control law is:

[0225]

[0226] Based on the parameter adaptive algorithm, the parameters are obtained. and The estimated value, using and Indicate; will and Substitution From the expression, we get:

[0227]

[0228]

[0229] Define Lyapunov functions as follows:

[0230]

[0231] The derivative of V is expressed as:

[0232]

[0233] The adaptive law is:

[0234]

[0235] Substituting the adaptive law into the V derivative function, we get:

[0236] .

[0237] In an exemplary embodiment, each processing unit in the adaptive pipe diameter adjustment control device for the tracked pipeline robot of this application embodiment can be implemented by one or more central processing units (CPUs), graphics processing units (GPUs), application-specific integrated circuits (ASICs), DSPs, programmable logic devices (PLDs), complex programmable logic devices (CPLDs), field-programmable gate arrays (FPGAs), general-purpose processors, controllers, microcontrollers (MCUs), microprocessors, or other electronic components.

[0238] Regarding the apparatus in the above embodiments, the specific manner in which each module and unit performs its operations has been described in detail in the embodiments related to the method, and will not be elaborated upon here.

[0239] According to embodiments of this application, this application also describes an electronic device and a readable storage medium.

[0240] This application also describes an electronic device, including: at least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores instructions executable by the at least one processor, the instructions being executed by the at least one processor to enable the at least one processor to perform the steps of the adaptive pipe diameter adjustment control method for tracked pipeline robots described in this application.

[0241] This application also describes a non-transitory computer-readable storage medium storing computer instructions, which are used to cause the computer to execute the steps of the adaptive pipe diameter adjustment control method for the tracked pipeline robot described in this application.

[0242] The scope of protection of this application shall be determined by the scope of protection of the claims.

Claims

1. A method for adaptive pipe diameter adjustment control of a tracked pipeline robot, characterized in that, The method includes: Collect information on the current location, orientation, and diameter of underground pipelines; Identify the adaptive pipe diameter adjustment mechanism in the structure of the pipeline robot, perform mathematical modeling of the adaptive pipe diameter adjustment mechanism, solve the mathematical model of the adaptive pipe diameter adjustment mechanism, and determine the vertical plane dynamic model of the adaptive pipe diameter adjustment control mode of the adaptive pipe diameter adjustment mechanism based on the solution results. Based on the vertical plane dynamics model, the deployment mode of the adaptive pipe diameter adjustment mechanism of the pipeline robot under different pipe diameters and different pipe poses is determined so that the overall volume of the pipeline robot can be adapted to the pipe diameter of different underground pipelines. The current pressure value is obtained by the pressure sensor on the track of the pipeline robot. It is determined whether the pressure value meets the expected pressure value. If it does not meet the expected pressure value, the current pressure value is fed back and the control of the linkage drive electric cylinder of the pipeline robot is restarted until the pressure value meets the requirements. The adaptive pipe diameter adjustment mechanism includes a servo motor, a reducer, a boom, a boom drive element, a connecting rod, and a connecting rod drive cylinder. The boom and boom drive element are responsible for the extension and folding movements of the adaptive pipe diameter adjustment mechanism outside the pipe robot. The connecting rod and connecting rod drive cylinder are responsible for adjusting the angle of the end track assembly of the adaptive pipe diameter adjustment mechanism. The position and angle of the pipe robot's tracks are changed by controlling the rotation of the servo motor, the extension / retraction of the boom drive element, and the extension / retraction of the connecting rod drive cylinder. The vertical plane dynamic model for determining the adaptive pipe diameter adjustment control mode of the adaptive pipe diameter adjustment mechanism based on the solution results includes: A virtual coordinate system is established, and the three-degree-of-freedom kinematic equations of the adaptive pipe diameter adjustment mechanism of the pipeline robot are determined as follows: in, As variables, It is the rotation angle of the drive motor. These refer to the extension and retraction amounts of the first and second linkage drive electric cylinders of the adaptive pipe diameter adjustment mechanism, respectively. For pipe diameter, Let be the pipe length. Points B, D, E, and F are the connection nodes and starting points of the movable link of the adaptive pipe diameter adjustment mechanism, respectively, and their x-coordinates are... The vertical axis is , The distances between each node and the starting point are known quantities. The force acting on the pipeline robot is expressed by the following formula: in, For the supporting force of the pipeline support surface, , For connecting force, For the connection force of the pipe support surface, For the torque of the drive motor, For the weight of the connecting rod, For the weight of the boom; The distance from the center of gravity of the boom to the origin. The distance from the center of gravity of the link to the origin, The distance from the track's center of gravity to the origin, The distance from the point of application of the ground support force to the origin. For tracked ground and The included angle of the axis; When the pipeline robot is at its extreme lateral displacement position, then: in, For the right track ground The included angle of the axis, Left track ground The included angle of the axis, For the support force of the right track, For the support of the left track, The balancing friction force for the right track. The balancing friction force for the left track. This represents the robot's total weight.

2. The control method according to claim 1, characterized in that, The adaptive pipe diameter adjustment mechanism also includes a radar detection module and a pressure detection module; The radar detection module is responsible for detecting the location and diameter of the underground pipeline, providing a basis for the extension control of the adaptive diameter adjustment mechanism; the pressure detection module is responsible for detecting the pressure of the track on the pipe wall, and determining whether the track and the inner wall of the pipeline are in close contact through the pressure. The motor rotation and electric cylinder extension drive the boom, connecting rod and track to swing perpendicular to the support surface, adjusting the position and angle of the track outside the pipeline robot, thereby making the track fit tightly against the inner wall of the pipeline.

3. The control method according to claim 2, characterized in that, The adaptive pipe diameter adjustment mechanism further includes an end effector; the method further includes: The motion trajectory of the end effector is planned using the quintic function curve method, and the trajectory of the end effector is tracked by combining the sliding mode control algorithm. Introducing intermediate variables The domain is The range is intermediate variables With position variables The relationship between them is: Location Regarding time Finding the first and second derivatives yields the velocity and acceleration, respectively: ， The initial and final positions are known, and the changes in velocity and acceleration depend on ; Define the quintic function curve as: The acceleration of the quintic function curve is a cubic function of time, with the acceleration being 0 at both the initial and final moments.

4. The control method according to claim 3, characterized in that, The method further includes: The following describes the design of a neural network-based adaptive sliding mode control to track the trajectory of the end effector: The sliding mode function is: in, ,but ; In the state equation The expression is: in, , , ; According to sliding mode function and The expression can be obtained as follows: The sliding mode function for the exponential reaching law is designed as follows: in, and It is a constant greater than zero. Represents a symbolic function; The control law is: Based on the parameter adaptive algorithm, the parameters are obtained. and The estimated value, using and Indicate; will and Substitution From the expression, we get: Define Lyapunov functions as follows: The derivative of V is expressed as: The adaptive law is: Substituting the adaptive law into the V derivative function, we get: 。 5. An adaptive pipe diameter adjustment control device for a tracked pipeline robot, characterized in that, The device includes: The data acquisition unit is used to collect information on the current location, orientation, and diameter of the underground pipeline. The modeling unit is used to identify the adaptive pipe diameter adjustment mechanism in the structure of the pipeline robot, perform mathematical modeling of the adaptive pipe diameter adjustment mechanism, solve the mathematical model of the adaptive pipe diameter adjustment mechanism, and determine the vertical plane dynamic model of the adaptive pipe diameter adjustment control mode of the adaptive pipe diameter adjustment mechanism based on the solution results. The control unit is used to determine the deployment mode of the adaptive pipe diameter adjustment mechanism of the pipeline robot under different pipe diameters and different pipe poses based on the vertical plane dynamic model, so that the overall volume of the pipeline robot can be adapted to the pipe diameter of different underground pipelines. The judgment unit is used to obtain the current pressure value through the pressure sensor on the track of the pipeline robot, determine whether it meets the expected pressure value, and if it does not meet the expected pressure value, it will restart the control of the linkage drive electric cylinder of the pipeline robot until the pressure value meets the requirements. The adaptive pipe diameter adjustment mechanism includes a servo motor, a reducer, a boom, a boom drive element, a connecting rod, and a connecting rod drive cylinder. The boom and boom drive element are responsible for the extension and folding movements of the adaptive pipe diameter adjustment mechanism outside the pipe robot. The connecting rod and connecting rod drive cylinder are responsible for adjusting the angle of the end track assembly of the adaptive pipe diameter adjustment mechanism. The position and angle of the pipe robot's tracks are changed by controlling the rotation of the servo motor, the extension / retraction of the boom drive element, and the extension / retraction of the connecting rod drive cylinder. The modeling unit is also used for: A virtual coordinate system is established, and the three-degree-of-freedom kinematic equations of the adaptive pipe diameter adjustment mechanism of the pipeline robot are determined as follows: in, As variables, It is the rotation angle of the drive motor. These refer to the extension and retraction amounts of the first and second linkage drive electric cylinders of the adaptive pipe diameter adjustment mechanism, respectively. For pipe diameter, Let be the pipe length. Points B, D, E, and F are the connection nodes and starting points of the movable link of the adaptive pipe diameter adjustment mechanism, respectively, and their x-coordinates are... The vertical axis is , The distances between each node and the starting point are known quantities. The force acting on the pipeline robot is expressed by the following formula: in, For the supporting force of the pipeline support surface, , For connecting force, For the connection force of the pipe support surface, For the torque of the drive motor, For the weight of the connecting rod, For the weight of the boom; The distance from the center of gravity of the boom to the origin. The distance from the center of gravity of the link to the origin, The distance from the track's center of gravity to the origin, The distance from the point of application of the ground support force to the origin. For tracked ground and The included angle of the axis; When the pipeline robot is at its extreme lateral displacement position, then: in, For the right track ground The included angle of the axis, Left track ground The included angle of the axis, For the support force of the right track, For the support of the left track, The balancing friction force for the right track. The balancing friction force for the left track. This represents the robot's total weight.

6. The apparatus according to claim 5, characterized in that, The adaptive pipe diameter adjustment mechanism includes a radar detection module and a pressure detection module. The boom and boom drive element are responsible for the extension and folding movements of the adaptive pipe diameter adjustment mechanism outside the pipeline robot. The connecting rod and the connecting rod drive cylinder are responsible for adjusting the angle of the end track assembly of the adaptive pipe diameter adjustment mechanism. The position and angle of the pipeline robot's tracks are changed by controlling the rotation of the servo motor, the extension / retraction of the boom drive element, and the extension / retraction of the connecting rod drive cylinder. The radar detection module is responsible for detecting the location and diameter of the underground pipeline to provide a basis for the extension control of the adaptive pipe diameter adjustment mechanism. The pressure detection module is responsible for detecting the pressure of the tracks on the pipe wall to determine whether the tracks and the inner wall of the pipe are in close contact. The motor rotation and electric cylinder extension drive the boom, connecting rod and track to swing perpendicular to the support surface, adjusting the position and angle of the track outside the pipeline robot, thereby making the track fit tightly against the inner wall of the pipeline.

7. The apparatus according to claim 6, characterized in that, The adaptive pipe diameter adjustment mechanism further includes an end effector; the device further includes: The tracking unit is used to plan the motion trajectory of the end effector using the quintic function curve method and to track the trajectory of the end effector using the sliding mode control algorithm. Introducing intermediate variables The domain is The range is intermediate variables With position variables The relationship between them is: Location Regarding time Finding the first and second derivatives yields the velocity and acceleration, respectively: ， The initial and final positions are known, and the changes in velocity and acceleration depend on ; Define the quintic function curve as: The acceleration of the quintic function curve is a cubic function of time, with the acceleration being 0 at both the initial and final moments.

8. The control device according to claim 7, characterized in that, The tracking unit is also used for: The following describes the design of a neural network-based adaptive sliding mode control to track the trajectory of the end effector: The sliding mode function is: in, ,but ; In the state equation The expression is: in, , , ; According to sliding mode function and The expression can be obtained as follows: The sliding mode function for the exponential reaching law is designed as follows: in, and It is a constant greater than zero. Represents a symbolic function; The control law is: Based on the parameter adaptive algorithm, the parameters are obtained. and The estimated value, using and Indicate; will and Substitution From the expression, we get: Define Lyapunov functions as follows: The derivative of V is expressed as: The adaptive law is: Substituting the adaptive law into the V derivative function, we get: 。

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