Control method of multi-channel control pipeline robot walking device with pipe diameter self-adapting function

Abstract

The application discloses a multi-channel control pipeline robot walking device with pipe diameter self-adaptive function, which comprises a shell, the shell is a regular hexagonal prism structure composed of six surfaces, and is made of thin high-speed steel plate through a bending machine at 120 degrees; a control panel and a battery are installed at the center of gravity of the bottom surface of the shell, a water drop module is installed on the inner side of the bottom surface of the shell, a Bluetooth module is installed on the inner side of the top surface of the shell, the top surface and two side surfaces adjacent to the bottom surface of the shell are wall clamping supporting surfaces, the wall clamping supporting surfaces are connected with a motor and a friction wheel set through a wall clamping structure; electrical driving is divided into corresponding motor sides; and three ultrasonic modules are arranged separately on the front side of the wall clamping supporting surface. The application can guarantee stable operation of the pipeline robot. The comprehensive application of the ultrasonic module and the water drop module guarantees multidirectional monitoring, obstacle avoidance and abnormal state checking. Based on Bluetooth communication control, the semi-automatic control of the whole walking device can be realized through simple serial port communication outside the vehicle.

Description

Technical Field

[0001] The present invention relates to a robot, in particular to a control method for a multi-channel controlled pipeline robot walking device with a pipe diameter self-adaptation function. Background Art

[0002] Robotics is a key research direction in the field of mechanical and electronic engineering. Since robots have the characteristics of high operating precision and tirelessness, they can reduce people's labor intensity, improve labor productivity, and improve product quality. In terms of pipeline transportation, long and straight transmission lines over long distances are no longer suitable for inefficient manual operations. The working conditions of special gas pipelines are complex and high-risk, so an efficient pipeline robot walking device is designed. The walking device of the present invention can not only ensure the stable operation of the entire machine in the pipeline in terms of mechanical structure, but also realize obstacle avoidance protection from a multi-channel program and realize the configuration of the working device based on the process framework. In addition, the semi-automatic mode controlled by Bluetooth communication can complete communication within a distance, and the status inside the pipe can be monitored and controlled manually. Summary of the Invention

[0003] The object of the present invention is to provide a control method for a multi-channel controlled pipeline robot walking device with a pipe diameter self-adaptation function, which can ensure the stable operation of the robot in the pipeline.

[0004] In order to solve the problems existing in the prior art, the technical solution adopted in the present invention is:

[0005] A control method for a multi-channel controlled pipeline robot walking device with a pipe diameter self-adaptation function, the device including a shell, a card wall structure, an electric drive, a control panel, a water drop module, a battery, a friction wheel group and an ultrasonic module, wherein the shell is a regular hexagonal prism structure composed of six faces and is made of thin high-speed steel plate through a 120-degree bending machine; the control panel and the battery are mounted at the center of gravity on the bottom surface of the shell, the water drop module is mounted on the inner side of the bottom surface of the shell, and the Bluetooth module is mounted on the inner side of the top surface of the shell, the top surface and two side surfaces adjacent to the bottom surface of the shell are card wall support surfaces, and the card wall support surfaces are connected to the motor and the friction wheel group through the card wall structure; the electric drive is arranged on the corresponding motor side; and the three ultrasonic modules are arranged separately on the front side of the card wall support surface.

[0006] Furthermore, the clamping wall structure includes a shell end, a motor end piece and a push rod. The shell end is punched and assembled with the shell. The motor end piece is connected to the friction wheel set of the dual-axis DC reduction motor, and the motor end piece is connected to the push rod.

[0007] Furthermore, the motor end piece is hinged to the push rod.

[0008] Furthermore, the motor end piece and the push rod are connected together by directly pushing with a smooth surface.

[0009] Furthermore, the motor end piece and the push rod are connected by a slider structure, which includes a guide rail and a slider. The guide rail device is connected to one side of the push rod on the motor end piece. Limiting screws are set at both ends of the guide rail. The slider moves along the guide rail and the other end is connected to the push rod.

[0010] Furthermore, a pipeline flaw detection device is installed on the inner wall of the shell.

[0011] The control method of the multi-channel controlled pipeline robot walking device with pipe diameter adaptive function comprises the following steps:

[0012] First, the wall-locking structure of the walking device is minimized, and it is manually or with the assistance of a device placed in a long straight gas pipeline with a circular cross-section to begin monitoring. The initial state value is 0. It can move forward at a constant speed in the pipeline by adaptively clamping the wall. The working device is in working state while moving.

[0013] When encountering an obstacle smaller than the wall structure, the machine can push the distance to overcome the obstacle by adjusting the performance of the wall structure through feedback. When encountering an obstacle larger than the wall structure, the machine will receive a prompt from the ultrasonic module and immediately stop and feedback to Bluetooth.

[0014] The shutdown status value is 1, which means the motor driving the walking device stops and the working device stops;

[0015] When the walking device returns, the state value is 2, the motor reverses and moves backward, and the working device stops;

[0016] The walking device is only equipped with an ultrasonic module in the forward direction; when returning or stopping, the path has already been traveled, so no secondary detection is required and it is inoperative. It also does not have the obstacle recognition function when returning.

[0017] In the above three states, the water drop module and Bluetooth module are continuously in working state:

[0018] When the water level in the machine exceeds the threshold, the water drop module will first report to Bluetooth, and the operator will decide whether to shut down the machine;

[0019] External commands issued via Bluetooth can stop or return the travel device, but the rules are as follows: when moving forward, only stop commands are accepted; when stopping, only reverse commands are accepted; when retreating, only stop commands are accepted; otherwise, they are considered invalid; incorrect operation data will also be detected by the program;

[0020] The process ends when the entire machine reaches the position where it needs to be finished and taken out.

[0021] The advantages and beneficial effects of the present invention are:

[0022] The multi-channel controlled pipeline robot's travel mechanism with pipe diameter adaptation, featuring a wall-locking mechanism, ensures stable operation. The integrated use of ultrasonic and water droplet modules ensures multi-directional monitoring, obstacle avoidance, and abnormality detection. Bluetooth communication enables semi-automatic control of the entire travel mechanism via simple serial communication from outside the vehicle.

[0023] The multi-channel controlled pipeline robot walking device of the present invention has a pipe diameter adaptive function. When it is turned on, it automatically moves at a certain speed and cooperates with work; when the obstacle encountered in the front is greater than the passable threshold, the system automatically stops and waits and sends a signal to the operator; when there is an abnormal state inside the machine, the operator is notified and prompted; when moving normally or cooperating with the working device, it can complete basic obstacle crossing and ensure the stability of the stuck wall; Bluetooth communication can intervene in the effective value at any time for control. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] The present invention will be further described below in conjunction with the accompanying drawings:

[0025] Figure 1 This is a model diagram of the multi-channel controlled pipeline robot walking device with pipe diameter self-adaptation function of the present invention;

[0026] Figure 2 Schematic diagram of the card wall structure;

[0027] Figure 3 This is a program flow chart of the multi-channel controlled pipeline robot walking device with pipe diameter self-adaptation function of the present invention.

[0028] In the figure: housing 1, card wall structure 2, housing end 2-1, push rod 2-2, slider structure 2-3, motor end piece 2-4, electric drive 3, control board 4, water drop module 5, battery 6, friction wheel set 7, ultrasonic module 8, pipeline flaw detection working device 9. DETAILED DESCRIPTION

[0029] In order to further illustrate the present invention, the present invention is described in detail below with reference to the accompanying drawings and embodiments, but they should not be construed as limiting the scope of protection of the present invention. Example 1:

[0030] like Figure 1As shown, the multi-channel controlled pipeline robot walking device with pipe diameter adaptation of the present invention comprises a housing 1, a clamping wall structure 2, an electrical drive 3, a control panel 4, a water drop module 5, a battery 6, a friction wheel assembly 7, and an ultrasonic module 8. The housing 1 is a prism structure with six or more even faces, in this embodiment a regular hexagonal prism. It is made from thin high-speed steel plate using a 120-degree bending machine. The control panel 4 and battery 6 are mounted on the bottom surface of the housing at the center of gravity. The battery is a lightweight rechargeable lithium battery. The water drop module 5 is mounted on the inside of the bottom surface of the housing to immediately detect internal abnormalities. The Bluetooth module is mounted on the inside of the top surface of the housing and waterproofed to ensure operational stability. The top surface and two side surfaces adjacent to the bottom surface of the housing serve as clamping wall support surfaces. These support surfaces connect the motor and the friction wheel assembly 7 via the clamping wall structure 2. None of the three support surfaces are adjacent to each other. The electrical drive 3 is located on the corresponding motor side. Three ultrasonic modules 8 are arranged separately on the front side of the clamping wall support surfaces.

[0031] like Figure 2 As shown, the locking wall structure 2 includes a housing end 2-1, a push rod 2-2, and a motor end piece 2-4. The maximum angle between the push rod 2-2 and the motor end piece 2-4 is 45-60 degrees. The push rod is fixed and pushes outward perpendicular to the housing. The locking wall structure 2 and the housing 1 are assembled, leaving additional wire holes. The housing end 2-1 is perforated and assembled to the housing 1. The motor end piece 2-4 is connected to the friction wheel assembly 7 of the dual-axis DC reduction motor. The motor end piece 2-4 and the push rod 2-2 are connected via a slider structure 2-3. The push rod can be driven electrically, hydraulically, or pneumatically. In this embodiment, the push rod is an electric push rod. During operation, the push rod 2-2 extends, and the corresponding locking wall structure angle increases. Because it is made of metal, insulation treatment is provided at the contact point with the component arrangement.

[0032] The slider structure includes a guide rail and a slider. The guide rail is connected to one side of the push rod on the motor end piece. Limit screws are set at both ends of the guide rail to ensure that its angle is always within the travel range. The slider moves along the guide rail and is connected to the push rod at the other end. One end of the motor end piece 2-4 is hinged to the housing end 2-1. When the electric push rod is extended, the angle of the retaining wall structure increases, and when the electric push rod is retracted, the angle of the retaining wall structure decreases.

[0033] A pipeline flaw detection device 9 is mounted on the inner wall of the housing. The flaw detection device 9 is connected to at least two different inner walls and is bolted to the inner wall during assembly, making it easy to remove. Any motor-driven device requires an additional power supply with a rated voltage, and a designated mounting location is reserved for it.

[0034] like Figure 3 As shown, the control method of the multi-channel controlled pipeline robot walking device with pipe diameter adaptive function includes the following steps:

[0035] First, the wall-locking structure of the walking device is minimized and the device is manually or with the aid of a device placed in a long straight gas pipeline with a circular cross-section to begin monitoring (S10). The initial state value is 0 (S20). The device can move forward at a constant speed in the pipeline by adaptively locking the pipeline wall (S30). The working device is in a working state while moving (S40).

[0036] When encountering an obstacle smaller than the wall structure, the system can push the obstacle away by adjusting the performance of the wall structure through feedback (S50). When encountering an obstacle larger than the wall structure, the system will receive a prompt from the ultrasonic module and immediately stop and feedback to Bluetooth (S60).

[0037] The shutdown state value is 1 (S21), the motor driving the traveling device stops (S31), and the working device stops (S41);

[0038] When the walking device returns, the state value is 2 (S22), the motor reverses and moves backward (S32), and the working device stops (S41);

[0039] The walking device is only equipped with an ultrasonic module in the forward direction; when returning or stopping, the path has already been traveled, so no secondary detection is required and it is inoperative. It also does not have the obstacle recognition function when returning.

[0040] In the above three states, the water drop module and Bluetooth module are continuously in working state:

[0041] When the water level in the machine exceeds the threshold, the water drop module will first report to the Bluetooth, and the operator will decide whether to shut down the machine (S70);

[0042] External commands issued via Bluetooth can cause the walking device to stop or return, but the rules are as follows: when moving forward, only stop commands are accepted; when stopping, only reverse commands are accepted; when retreating, only stop commands are accepted; otherwise, the device is deemed invalid (S80). Incorrect operation data will also be detected by the program (S81).

[0043] When the entire machine reaches the position where the work needs to be finished and removed, the process ends ( S90 ). Example 2:

[0044] The only difference between this embodiment and embodiment 1 is that the motor end piece 2-4 and the push rod 2-2 are hinged together, and the rest is the same as embodiment 1. Example 3:

[0045] The only difference between this embodiment and embodiment 1 is that the motor end piece 2-4 and the push rod 2-2 are connected together by a direct pushing method of a smooth surface, and the rest is the same as embodiment 1.

[0046] The above is only a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principles of the present invention. These improvements and modifications should also be regarded as within the scope of protection of the present invention.

Claims

1. A control method for a multi-channel controlled pipeline robot walking device with a pipe diameter adaptive function, characterized by: The device comprises a housing (1), a card wall structure (2), an electric drive (3), a control panel (4), a water drop module (5), a battery (6), a friction wheel group (7) and an ultrasonic module (8), wherein the housing (1) is a regular hexagonal prism structure composed of six faces and is made of a thin high-speed steel plate by bending a 120-degree angle machine; the control panel (4) and the battery (6) are mounted at the center of gravity on the bottom surface of the housing, the water drop module (5) is mounted on the inner side of the bottom surface of the housing, and the Bluetooth module is mounted on the inner side of the top surface of the housing, the top surface and two side surfaces adjacent to the bottom surface of the housing are card wall support surfaces, and the card wall support surfaces are connected to the motor and the friction wheel group (7) through the card wall structure (2); the electric drive (3) is arranged on the corresponding motor side; and three ultrasonic modules (8) are arranged separately on the front side of the card wall support surface. A control method for a multi-channel controlled pipeline robot walking device with a pipe diameter adaptive function comprises the following steps: First, the wall-locking structure of the walking device is minimized and the device is manually or with the aid of a device placed in a long straight gas pipeline with a circular cross-section to begin monitoring (S10). The initial state value is 0 (S20). The device can move forward at a constant speed in the pipeline by adaptively locking the pipeline wall (S30). The working device is in a working state while moving (S40). When encountering an obstacle smaller than the wall structure, the device will actively push out and overcome the obstacle by itself through the feedback adjustment mechanism of the wall structure (S50). When encountering an obstacle larger than the wall structure, the device will receive a prompt from the ultrasonic module and immediately stop and feedback to Bluetooth (S60). The shutdown state value is 1 (S21), the motor driving the traveling device stops (S31), and the working device stops (S41); When the walking device returns, the state value is 2 (S22), the motor reverses and moves backward (S32), and the working device stops (S41); The walking device is only equipped with an ultrasonic module in the forward direction; when returning or stopping, the path has already been traveled, so no secondary detection is required and it is inoperative. It also does not have the obstacle recognition function when returning. In the above three states of forward, return and stop, the water drop module and Bluetooth module are continuously in working state: When the amount of water in the device exceeds the threshold, the water drop module will first report to Bluetooth, and the operator will decide whether to shut down the device (S70); External commands issued via Bluetooth can cause the walking device to stop or return, but the rules are as follows: when moving forward, only stop commands are accepted; when stopping, only reverse commands are accepted; when retreating, only stop commands are accepted; otherwise, the device is deemed invalid (S80); erroneous operation data will also be detected by the program (S81); When the entire machine reaches the position where the work needs to be finished and removed, the process ends ( S90 ).

2. The control method of the multi-channel controlled pipeline robot walking device with pipe diameter adaptive function according to claim 1 is characterized in that: The clamping wall structure (2) comprises a housing end (2-1), a motor end piece (2-4) and a push rod (2-2); the housing end (2-1) is punched and assembled with the housing (1); the motor end piece (2-4) is connected to the friction wheel set (7); and the motor end piece (2-4) is connected to the push rod (2-2).

3. The control method of the multi-channel controlled pipeline robot walking device with pipe diameter adaptation function according to claim 2 is characterized in that: The motor end piece (2-4) is hinged to the push rod (2-2).

4. The control method of the multi-channel controlled pipeline robot walking device with pipe diameter adaptation function according to claim 2 is characterized in that: The motor end piece (2-4) and the push rod (2-2) are connected together by a smooth surface direct pushing method.

5. The control method of the multi-channel controlled pipeline robot walking device with pipe diameter adaptive function according to claim 2 is characterized in that: The motor end piece (2-4) and the push rod (2-2) are connected via a slider structure (2-3). The slider structure comprises a guide rail and a slider. The guide rail device is connected to one side of the push rod on the motor end piece. Limiting screws are provided at both ends of the guide rail. The slider moves along the guide rail, and the other end is connected to the push rod.

6. The control method of the multi-channel controlled pipeline robot walking device with pipe diameter adaptation function according to claim 1 is characterized in that: A pipeline flaw detection device (9) is installed on the inner wall of the shell.

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