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

Abstract

The present invention relates to a control system, method, device, electronic device and medium of a pipeline robot, the control system comprising: a processor and a main control driving circuit arranged inside the pipeline robot, and a posture sensor and a pressure sensor arranged on the pipeline robot; the main control driving circuit, the posture sensor and the pressure sensor are respectively connected to the processor; the processor is used to obtain current posture information and current pressure, determine the speed difference between two driving wheels according to the current posture information and current pressure, and adjust the current posture of the pipeline robot and the current pressure of the two driving wheels respectively according to the speed difference through the main control driving circuit. Through the control system of the present invention, the speed difference determined based on the two parameters of the current posture information and the current pressure can be used to simultaneously control the posture of the pipeline robot in the pipeline and the pressure of the driving wheels, thereby improving the control accuracy.

Description

Technical Field

[0001] The present invention relates to the field of automatic control, and in particular to a control system, method, device, electronic equipment and medium of a pipeline robot. Background Art

[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 move forward in the pipeline through this single control method, which can meet the needs of the robot to complete its work smoothly. However, for pipelines with relatively complex structures, such as pipelines with corners and uphill and downhill roads, a control system with higher control accuracy is required to ensure the normal operation of the robot in the complex pipeline. Therefore, the problem in the prior art is how to provide a control system with better control accuracy to control the movement of the pipeline robot in the pipeline, which is a technical problem that needs to be solved urgently. Summary of the invention

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

[0004] The technical solution of the present invention to solve the above technical problems is as follows: a control system of a pipeline robot, the control system comprising:

[0005] A processor and a main control drive circuit arranged inside the pipeline robot, and a posture sensor and a pressure sensor arranged on the pipeline robot;

[0006] The above-mentioned main control driving circuit, posture sensor and pressure sensor are respectively connected to the processor;

[0007] The above-mentioned posture sensor is used to obtain the current posture information of the pipeline robot;

[0008] The pressure sensor is used to obtain the current pressure of the two driving wheels of the pipeline robot;

[0009] The above-mentioned processor is used to obtain current posture information and current pressure, determine the speed difference between the two driving wheels based on the current posture information and current pressure, and adjust the current posture of the pipeline robot and the current pressure of the two driving wheels respectively through the main control drive circuit based on the speed difference.

[0010] The beneficial effects of the present invention are as follows: based on the posture sensor arranged on the pipeline robot, the current posture information of the pipeline robot is obtained; based on the pressure sensor arranged on the pipeline robot, the current pressure of the two driving wheels of the pipeline robot is obtained; the processor determines the speed difference between the two driving wheels according to the two parameters; the posture change of the pipeline robot and the pressure change of the driving wheels are reflected by the speed difference, so as to adjust the posture of the pipeline robot and the pressure of the driving wheels according to the speed difference; for pipelines with complex structures, the posture of the pipeline robot in the pipeline and the pressure of the driving wheels can be controlled simultaneously through the control system; on the premise of ensuring the smooth walking of the pipeline robot in the pipeline, the timeliness of the control system is improved; and, whether it is the adjustment of posture or pressure, it is based on the two parameters of current posture information and current pressure, thereby improving the control accuracy.

[0011] Based on the above technical solution, the present invention can also be improved as follows.

[0012] Furthermore, the control system further comprises a voltage divider arranged inside the pipeline robot, and the voltage divider is respectively connected to the processor and the main control driving circuit;

[0013] The voltage divider is used to control the voltage distributed to each of the two drive wheels;

[0014] The processor further includes, in the process of adjusting the current pressure of the two driving wheels through the main control driving circuit according to the speed difference:

[0015] According to the speed difference, the voltage distributed to each of the two driving wheels is controlled by a voltage divider. For each driving wheel, the current pressure of the driving wheel is adjusted by the main control driving circuit according to the voltage of the driving wheel.

[0016] The beneficial effect of adopting the above further solution is that the voltage divider can control the voltage distributed to each of the two drive wheels. For each drive wheel, the current pressure of the drive wheel can be adjusted based on the change of the pressure of the drive wheel. By adjusting the pressure corresponding to the drive wheel, the control process is simple and the control effect is more stable. On the other hand, when adjusting the pressure, the two drive wheels can be adjusted separately through the voltage divider, which can meet more complex scenarios and further improve the control accuracy.

[0017] Furthermore, the above-mentioned posture sensor is arranged on the driving wheel of the pipeline robot;

[0018] The control system further comprises a brushless DC reduction motor, which is connected to the posture sensor;

[0019] The above-mentioned brushless DC reduction motor is used to provide power for the movement of the pipeline robot.

[0020] The beneficial effect of adopting the above further solution is that the above posture sensor is arranged on the driving wheel of the pipeline robot, that is, arranged at the lower part of the pipeline robot. When adjusting, only the movement of the lower part of the pipeline robot is adjusted, and the upper part of the pipeline robot is not adjusted. While reducing the number of controls, the stability of the robot movement is improved, and it is beneficial to the movement control of the robot. A brushless DC reduction motor is used to provide power for the pipeline gas man. Since it replaces mechanical transmission mechanisms such as screws, the brushless DC reduction motor has a fast response, high precision, and can reduce energy loss.

[0021] Furthermore, the control system further comprises a console, which is connected to the processor and is arranged outside the pipeline robot;

[0022] The above console is used to obtain the user's control instructions for the pipeline robot;

[0023] The processor is also used to obtain control instructions and send the control instructions to the main control drive circuit to control the movement of the pipeline robot according to the control instructions;

[0024] The control system further includes a synchronous positioning and mapping module, which is arranged on the pipeline robot and connected to the processor;

[0025] The above-mentioned synchronous positioning and mapping module is used to obtain the position information of the pipeline robot;

[0026] The above-mentioned processor is also used to obtain position information and control the movement of the pipeline robot according to the position information.

[0027] The beneficial effect of adopting the above further solution is that in some scenarios, the pipeline robot can not only automatically control the movement in the pipeline based on its own information, but also manually control the pipeline robot based on the user's control instructions through the console, thereby ensuring the smooth operation of the pipeline robot. The control system also includes a synchronous positioning and mapping module, and the pipeline robot can automatically control the movement of the pipeline robot in the pipeline through the processor through the position information collected by the module to ensure the smooth operation of the pipeline robot in the pipeline.

[0028] Furthermore, the control system also includes a wired interface, which is connected to the main control drive circuit, and the wired interface includes at least one of a universal serial bus USB interface, a secure digital card SD interface or an asynchronous transmission standard RS-232 interface.

[0029] The beneficial effect of adopting the above further scheme is that a wired interface is also provided on the control system, and the pipeline robot can communicate with external devices through the wired interface to meet different communication requirements. Moreover, in the absence of a network, communication can be carried out through wired communication to ensure the normal operation of the pipeline robot. The above wired interface can be different types of wired interfaces to meet the needs of different types of wired interfaces, so that devices of different interface types can communicate with the pipeline robot. Moreover, in the absence of a network, normal communication between the pipeline machine and external devices can also be guaranteed. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings required for describing the embodiments of the present invention are briefly introduced below.

[0031] Figure 1 A schematic diagram of the structure of a control system of a pipeline robot provided by one embodiment of the present invention;

[0032] Figure 2 A schematic diagram of a flow chart of determining a speed difference based on a fuzzy control algorithm provided by an embodiment of the present invention;

[0033] Figure 3 A schematic diagram of a control system of another pipeline robot provided by an embodiment of the present invention

[0034] Figure 4 A schematic flow chart of a control method for a pipeline robot provided by one embodiment of the present invention;

[0035] Figure 5 A schematic diagram of the structure of a control device for a pipeline robot provided by one embodiment of the present invention;

[0036] Figure 6 A schematic diagram of the structure of an electronic device provided by an embodiment of the present invention.

[0037] In the accompanying drawings, the components represented by the reference numerals are listed as follows:

[0038] 1. Processor 1, 2. Main control drive circuit, 3. Posture sensor, 4. Pressure sensor. DETAILED DESCRIPTION

[0039] The principles and features of the present invention are described below. The examples given are only used to explain the present invention and are not used 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-mentioned technical problems are described in detail below with specific embodiments. The following specific embodiments can be combined with each other, and the same or similar concepts or processes may not be repeated in some embodiments. The embodiments of the present invention will be described below in conjunction with the accompanying drawings.

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

[0042] A processor 1, a main control drive circuit 2, and a position sensor 3 and a pressure sensor 4 arranged inside the pipeline robot;

[0043] The main control driving circuit 2, the posture sensor 3 and the pressure sensor 4 are respectively connected to the processor 1;

[0044] The above-mentioned posture sensor 3 is used to obtain the current posture information of the pipeline robot;

[0045] The pressure sensor 4 is used to obtain the current pressure of the two driving wheels of the pipeline robot;

[0046] The processor 1 is used to obtain current posture information and current pressure, determine the speed difference between the two driving wheels according to the current posture information and current pressure, and adjust the current posture of the pipeline robot and the current pressure of the two driving wheels respectively according to the speed difference through the main control drive circuit 2.

[0047] The beneficial effects of the present invention are as follows: based on the posture sensor 3 arranged on the pipeline robot, the current posture information of the pipeline robot is obtained, based on the pressure sensor 4 arranged on the pipeline robot, the current pressure of the two driving wheels of the pipeline robot is obtained, and the processor 1 determines the speed difference between the two driving wheels according to the two parameters, and reflects the posture change of the pipeline robot and the pressure change of the driving wheels through the speed difference, so as to adjust the posture of the pipeline robot and the pressure of the driving wheels according to the speed difference. For pipelines with complex structures, the control system can simultaneously control the posture of the pipeline robot in the pipeline and the pressure of the driving wheels, thereby improving the timeliness of the control system. Moreover, whether it is the adjustment of posture or pressure, it is based on the two parameters of current posture information and current pressure, thereby improving the control accuracy and stability.

[0048] The solution of the present invention is further described below in conjunction with the following specific embodiments. In this embodiment, the control system may include:

[0049] A processor 1, a main control drive circuit 2, and a position sensor 3 and a pressure sensor 4 arranged inside the pipeline robot;

[0050] The main control driving circuit 2, the posture sensor 3 and the pressure sensor 4 are respectively connected to the processor 1;

[0051] The above-mentioned posture sensor 3 is used to obtain the current posture information of the pipeline robot;

[0052] The pressure sensor 4 is used to obtain the current pressure of the two driving wheels of the pipeline robot;

[0053] The processor 1 is used to obtain current posture information and current pressure, determine the speed difference between the two driving wheels according to the current posture information and current pressure, and adjust the current posture of the pipeline robot and the current pressure of the two driving wheels respectively according to the speed difference through the main control drive circuit 2.

[0054] Among them, the above-mentioned main control drive circuit 2 refers to the circuit that controls the movement of various parts of the pipeline robot. Different parts can correspond to different control circuits, such as the control circuit that controls the movement of the pipeline robot arm, the control circuit that controls the movement of the pipeline robot drive wheel, etc. Different parameters can also correspond to different control circuits, such as the control circuit that controls the voltage, the control circuit that controls the torque, etc.

[0055] The position and posture of the pipeline robot refers to the position and posture of the pipeline robot during its movement in the pipeline, usually relative to the pipeline. Optionally, the position and posture information may be the inclination angle between the pipeline robot and the pipeline axis. The optimal position and posture of the pipeline robot is when the driving direction of the pipeline robot coincides with the pipeline axis, that is, the inclination angle is 0 degrees.

[0056] Optionally, the current pressure may be an average value of corresponding pressures collected over a period of time.

[0057] The driving wheel can be any one of a track wheel, a wheel, and a walking wheel, that is, the control system of the present invention can be applied to pipeline robots with different operating structures. The pipeline robot can be an industrial robot or a special robot, and the control system of the present invention can be applied in industry or other fields.

[0058] The above-mentioned speed difference between the two driving wheels determined according to the current posture information and the current pressure can be determined based on the fuzzy control method, which will be described in detail below. The fuzzy control method has the characteristics of nonlinearity, and the hierarchical control of posture and pressure can be realized through the fuzzy control method, that is, the posture and pressure can be controlled separately based on the two parameters of posture information and pressure. Compared with a single control method (controlling posture based on posture, or controlling pressure based on pressure), it can meet more control requirements and has higher control accuracy. Optionally, the above-mentioned posture sensor 3 can be an IMU sensor (Inertial Measurement Unit).

[0059] Optionally, the processor 1 may be a single chip microcomputer, such as a STC (Sensitivity Time Control) single chip microcomputer, an AVR single chip microcomputer, etc. The specific form of the processor 1 is not limited in the present invention.

[0060] How the processor 1 adjusts the current posture of the pipeline robot and the current pressure of the two driving wheels respectively through the main control driving circuit 2 based on the speed difference will be described in detail below and will not be repeated here.

[0061] The processor 1 and the main control drive circuit 2 can be arranged on a control board, and data communication can be performed through the control board. Optionally, the entire components of the control board can be stored in an aluminum box to prevent external signals from interfering with the internal circuit, and the interface adopts a spiral fitting method to prevent the circuit from loosening due to long-term movement.

[0062] In an optional solution of the present invention, the control system further comprises a voltage divider arranged inside the pipeline robot, and the voltage divider is respectively connected to the processor 1 and the main control driving circuit 2;

[0063] The voltage divider is used to control the voltage distributed to each of the two drive wheels;

[0064] The processor 1 further includes, in the process of adjusting the current pressure of the two driving wheels through the main control driving circuit 2 according to the speed difference:

[0065] According to the speed difference, the voltage distributed to each of the two driving wheels is controlled by a voltage divider. For each driving wheel, the current pressure of the driving wheel is adjusted by the main control driving circuit 2 according to the voltage of the driving wheel.

[0066] The voltage divider can control the voltage distributed to each of the two driving wheels. For each driving wheel, the current pressure of the driving wheel can be adjusted based on the change of the pressure of the driving wheel. By adjusting the pressure corresponding to the driving wheel, the control process is simple and the control effect is more stable. In addition, the current pressure of each driving wheel can be adjusted separately by using the voltage divider, so that the adjustment effect is better.

[0067] Optionally, the voltage divider may be a voltage shunt.

[0068] The above-mentioned processor 1 controls the voltage distributed to each of the two driving wheels through a voltage divider according to the speed difference. For each driving wheel, the specific implementation process of adjusting the current pressure of the driving wheel through the main control driving circuit 2 according to the voltage of the driving wheel will be described in detail below and will not be repeated here.

[0069] In an optional solution of the present invention, the above-mentioned posture sensor 3 and pressure sensor 4 are arranged on the driving wheels of the pipeline robot.

[0070] Among them, the posture sensor 3 is arranged on the driving wheel of the pipeline robot, that is, it is arranged at the lower part of the pipeline robot. During adjustment, only the movement of the lower part of the pipeline robot is adjusted, and the upper part of the pipeline robot is not adjusted. While reducing the number of controls, the stability of the robot's movement is improved and it is beneficial to the movement control of the robot.

[0071] Among them, the number of the above-mentioned posture sensors 3 is not limited in the solution of the present invention, and can be one or more. If there are multiple posture sensors 3, fusion processing can be performed based on the posture information detected by these multiple posture sensors 3 (for example, averaging, and using the processed posture information as the current posture information. Similarly, the number of pressure sensors 4 is not limited in the solution of the present invention, and can be one or more. If there are multiple pressure sensors 4, a method of fusing multiple pressures can also be adopted, and the processed pressure can be used as the current pressure.

[0072] In an optional solution of the present invention, the control system further includes a console, which is connected to the processor 1 and is arranged outside the pipeline robot;

[0073] The above console is used to obtain the user's control instructions for the pipeline robot;

[0074] The processor 1 is also used to obtain control instructions and send the control instructions to the main control drive circuit 2 to control the movement of the pipeline robot according to the control instructions.

[0075] In some scenarios, the pipeline robot can not only automatically control its movement in the pipeline based on its own information, but also manually control the pipeline robot based on the user's control instructions through the console, thereby ensuring the smooth operation of the pipeline robot. Under normal working conditions, the communication mode between the console and the pipeline robot is wireless communication. Optionally, LoRa (Long Range) technology can be used for wireless communication. LoRa technology has the characteristics of low energy consumption, wide coverage, strong penetration and high stability. Using this LoRa technology for wireless communication can improve the communication stability between the pipeline robot and the console, and can realize long-distance communication between the console and the pipeline robot.

[0076] In an optional solution of the present invention, the control system further comprises a brushless DC reduction motor, and the brushless DC reduction motor is connected to the posture sensor 3;

[0077] The above-mentioned brushless DC reduction motor is used to provide power for the movement of the pipeline robot.

[0078] The brushless DC motor is used to provide power for the pipeline gasifier, which can make the structure simpler than other mechanical transmission devices. And because it replaces mechanical transmission mechanisms such as screws, the brushless DC motor has fast response, high precision, and can reduce energy loss. Optionally, the brushless DC motor can be any one of the M3508 motor and the M2006 motor.

[0079] In an optional solution of the present invention, the control system further includes a wired interface, and the wired interface is connected to the main control drive circuit 2 .

[0080] A wired interface is also provided on the control system, and the pipeline robot can communicate with external devices through the wired interface to meet different communication requirements. If the main control drive circuit 2 and the processor 1 are provided on the control board, then the wired interface can also be provided on the control board, and the communication between the wired interface and the main control drive circuit 2 and the processor 1 is realized through the control board.

[0081] In an optional solution of the present invention, the wired interface includes at least one of a Universal Serial Bus (USB) interface, a Secure Digital Memory Card (SD) interface, or an asynchronous transmission standard RS-232 (EIA RS-232-C) serial port.

[0082] The wired interface can be of different types to meet the needs of different types of wired interfaces, so that devices of different interface types can communicate with the pipeline robot. In addition, in the absence of a network, normal communication between the pipeline machine and external devices can also be guaranteed.

[0083] In an optional solution of the present invention, the power interface of the pipeline robot is an XT30 interface.

[0084] Among them, the XT30 interface is an interface that complies with the power interface standard. Through this interface, the normal power supply needs of the pipeline robot can be met.

[0085] Optionally, the main control driving circuit 2 is also provided with an I / O bus, through which data and control signals specified by the I / O path technology can be transmitted.

[0086] In an optional solution of the present invention, the control system further comprises a synchronous positioning and mapping module, which is arranged on the pipeline robot and connected to the processor 1;

[0087] The above-mentioned synchronous positioning and mapping module is used to obtain the position information of the pipeline robot;

[0088] The processor 1 is also used to obtain position information and control the movement of the pipeline robot according to the position information.

[0089] The control system further includes a simultaneous positioning and mapping module, which may also be referred to as a SLAM (Simultaneous Localization and Mapping) module. The pipeline robot may automatically control the movement of the pipeline robot in the pipeline through the processor 1 by means of the position information collected by the module. The above-mentioned simultaneous positioning and mapping module may obtain an image through an image acquisition device provided on the pipeline robot, and determine the position information of the pipeline robot based on the acquired image. The above-mentioned image acquisition device may be a camera, such as a binocular camera.

[0090] Based on the above description, the speed difference between the two driving wheels can be determined based on the current posture information and the current pressure based on the fuzzy control method. The principle of the fuzzy control method (also called fuzzy rule) is:

[0091] If F=A and EF=B then U=C

[0092] The above fuzzy rules have nonlinear characteristics. When F or EF approaches zero, the surface changes greatly; when F or EF leaves zero, the surface changes slightly. That is, when the error approaches 0, more corresponding rules need to be set to ensure control accuracy; when the error leaves 0, relatively fewer corresponding rules need to be set to ensure control sensitivity.

[0093] See also Figure 2FIG. 1 is a flow chart showing a flow chart of determining the speed difference by a fuzzy control method. In an optional solution of the present invention, the above-mentioned fuzzy control method is used to determine the speed difference between the two driving wheels according to the current posture information and the current pressure. The maximum inclination angle θmax (corresponding to the position sensor 3) of the pipeline robot is obtained. Figure 2 The maximum pressure Fmax of the pipeline robot is obtained by the pressure sensor 4 (corresponding to Figure 2 The maximum positive pressure detection shown in ), where the maximum tilt angle refers to the maximum value of multiple tilt angles collected within a period of time, and the current posture information of the pipeline robot is represented by the maximum tilt angle. Similarly, the above-mentioned maximum pressure refers to the maximum value of multiple pressures collected within a period of time, and the current pressure of the pipeline robot is represented by the maximum pressure.

[0094] Get the set pressure F0 and set tilt angle θ0 of the pipeline robot. The set pressure can be understood as the ideal pressure, and the set tilt angle can be understood as the tilt angle corresponding to the initial posture of the pipeline robot. Determine the pressure deviation F and the pressure change rate EF (where EF = F / F0) according to the set pressure F0 and the maximum pressure Fmax, and determine the tilt angle deviation θ and the tilt angle change rate Eθ (where Eθ = θ / θ0) according to the set tilt angle θ0 and the maximum tilt angle θmax. Use the pressure deviation F and the pressure change rate EF as the input of the position fuzzy controller FC1, and output the speed difference Δv1 of the two driving wheels. Use the tilt angle deviation θ and the tilt angle change rate Eθ as the input of the posture fuzzy controller FC2, and output the speed difference Δv2 of the two driving wheels.

[0095] Among them, the position fuzzy controller FC1 refers to the fuzzy control algorithm, wherein the pressure deviation F is equivalent to F in the above fuzzy control algorithm, and the pressure change rate EF is equivalent to EF in the above fuzzy control algorithm. Similarly, the above posture fuzzy controller FC2 also refers to the fuzzy control algorithm, wherein the tilt angle deviation θ is equivalent to F in the above fuzzy control algorithm, and the tilt angle change rate Eθ is equivalent to EF in the above fuzzy control algorithm. The above speed difference Δv1 and speed difference Δv2 are equivalent to U in the above fuzzy control algorithm.

[0096] The above process of determining the pressure deviation F and the pressure change rate EF can be implemented by the upper fuzzy controller, and the above process of determining the tilt angle deviation θ and the tilt angle change rate Eθ can be implemented by the lower fuzzy controller. It can be understood that the upper fuzzy controller and the lower fuzzy controller are both algorithms in the processor 1. The above process of determining the pressure deviation F and the pressure change rate EF, and determining the tilt angle deviation θ and the tilt angle change rate Eθ corresponds to Figure 2 The state analysis shown in . The above fuzzy controller can also be called Mamdani type fuzzy controller.

[0097] The above FC1 and FC2 constitute a two-layer fuzzy control algorithm, one layer is used to determine the speed difference based on the posture information, and the other layer is used to determine the speed difference based on the pressure. Using a layered fuzzy control algorithm to determine the speed difference can improve the coordination of system control. The algorithm has fewer oscillations, shorter rise time, and better stability.

[0098] After determining the speed difference Δv1 and the speed difference Δv2, the speed difference Δv between the two drive wheels can be determined based on the speed difference Δv1 and the speed difference Δv2. Usually, the speed difference Δv1 and the speed difference Δv2 can be weighted and fused, and the speed difference after weighted fusion is used as the speed difference Δv between the two drive wheels. Considering the importance of the inclination angle and pressure to the speed difference, one possible way to determine the speed difference Δv based on the speed difference Δv1 and the speed difference Δv2 is as follows: obtain a first weight a1 corresponding to the posture, and a second weight a2 corresponding to the pressure; determine the speed difference Δv between the two drive wheels (corresponding to the speed difference Δv1, the first weight a1, the speed difference Δv2, and the second weight a2) according to the speed difference Δv1, the first weight a1, the speed difference Δv2, and the second weight a2. Figure 2 Based on the speed difference Δv, the main control drive circuit 2 adjusts the drive wheel (corresponding to Figure 2 The driving body in the pipeline robot is adjusted to adjust the posture of the pipeline robot and the pressure of the driving wheel.

[0099] After the speed difference Δv between the two driving wheels is determined based on the fuzzy control algorithm, the current posture information of the pipeline robot and the pressure of the driving wheels are adjusted respectively through the main control driving circuit 2 based on the speed difference Δv. One possible way to adjust the current posture of the pipeline robot through the main control driving circuit 2 according to the speed difference Δv is as follows:

[0100] When the speed difference Δv is greater than the first set value, it indicates that the posture inclination angle is too large, that is, the pipeline robot deviates from the reference direction, where the reference direction refers to the coincidence of the driving direction of the pipeline robot with the pipeline axis, that is, the inclination angle is 0 degrees. Then, through the main control drive circuit 2, according to P=FV, where P is power, F is pressure, and V is speed. When the power P remains unchanged, the speed difference Δv increases, and the pressure difference increases accordingly. According to the pressure difference, a force F opposite to the deviation direction of the pipeline robot can be determined; according to M=Fr, where M is torque, F is force, and r is radius, representing the distance vector from the rotation axis to the point of application. When r remains unchanged, a reverse torque is determined according to the force F and the radius r, and the reverse torque is opposite to the deviation direction of the pipeline robot. Among them, the deviation direction refers to the driving direction of the pipeline robot, that is, the direction corresponding to the maximum inclination angle. According to the reverse torque, the current posture information of the pipeline robot is adjusted through the main control drive circuit 2 so that the pipeline robot is restored to the optimal posture, that is, close to the reference direction. At this time, the speed difference between the two driving wheels becomes larger, so that the pipeline robot can walk more stably in the pipeline and turn more smoothly.

[0101] If the speed difference Δv is not greater than the first set value, it indicates that the current posture of the pipeline robot is good, and the current posture of the pipeline robot may not be adjusted, that is, the speed difference between the two driving wheels is kept at 0.

[0102] In an optional solution of the present invention, when the speed difference Δv is greater than the first set value, it indicates that the pipeline robot deviates from the reference direction at this time. If the inclination angle tends to increase at this time, it indicates that the pipeline robot will deviate more and more from the reference direction, and the posture is adjusted according to the speed difference Δv. If the speed difference Δv is greater than the first set value, but the inclination angle tends to decrease, it indicates that the pipeline machine has the possibility of recovering to the optimal posture, and the posture may not be adjusted first.

[0103] One possible way to adjust the pressure of the two driving wheels by the main control driving circuit 2 according to the speed difference Δv is as follows:

[0104] When the speed difference Δv is greater than the second set value, it indicates that the pressure of the driving wheel is too large and it is necessary to reduce the pressure of the driving wheel. According to P=FV, when the power remains unchanged, the speed increases and the pressure decreases, where P is power, F is pressure, and V is speed. That is, when the speed difference between the two driving wheels increases, the pressure difference between the two driving wheels increases. When the speed difference Δv is greater than the second set value, the diameter of the driving wheel can be reduced through the main control drive circuit 2 to reduce the pressure of the two driving wheels and prevent the driving wheel from being stranded due to excessive pressure. When the speed difference is less than the third set value, it indicates that the pressure of the driving wheel is too small and it is necessary to increase the pressure of the driving wheel. The diameter of the driving wheel can be increased through the main control drive circuit 2 to increase the pressure of the two driving wheels and prevent the low pressure from causing stalling. Among them, the third set value is less than the second set value.

[0105] As an example, assuming that the power of both driving wheels is 6w, the initial pressure of the two driving wheels is 1N, and the speed is 6v. When the speed of one of the driving wheels increases to 2v, the pressure becomes 3N. Thus, the speed difference between the two driving wheels increases, and the pressure difference between the two driving wheels increases accordingly. Therefore, when the speed difference Δv is greater than the second set value, the diameter of the driving wheel can be reduced to reduce the pressure of the driving wheel on the pipe wall, so as to reduce the pressure of the two driving wheels.

[0106] It is understandable that when adjusting the pressure of the driving wheels, the pressure of each driving wheel can be adjusted separately. For example, in the above example, the pressure of one driving wheel A has not changed and has always been 1N, and the pressure of another driving wheel B has changed from 1N to 3N, then it is the driving wheel B that needs to adjust the pressure.

[0107] In an optional solution of the present invention, the power output of the two driving wheels can also be controlled by a voltage divider, and the pressure of the two driving wheels can be adjusted by changing the power. Then, according to the speed difference, the voltage distributed to each of the two driving wheels is controlled by a voltage divider. For each driving wheel, according to the voltage of the driving wheel, a possible implementation method of adjusting the current pressure of the driving wheel through the main control driving circuit 2 is:

[0108] When the speed difference Δv is greater than the second set value, it indicates that the pressure of the driving wheel is too large and needs to be reduced. For each driving wheel, through the main control driving circuit 2, according to P=UI, where P is power, I is current, and U is voltage, when the current of the driving wheel remains unchanged, the voltage of the driving wheel is reduced, and the power P corresponding to the driving wheel becomes smaller, and then according to P=FV, where P is power, F is pressure, and V is speed. When the power of the driving wheel decreases and the speed remains unchanged, the pressure decreases.

[0109] When the speed difference Δv is less than the third set value, it indicates that the pressure of the driving wheel is too small and needs to be increased. For each driving wheel, through the main control driving circuit 2, according to P=UI, where P is power, I is current, and U is voltage, when the current of the driving wheel remains unchanged, the voltage of the driving wheel is increased, and the power P corresponding to the driving wheel becomes larger, and then according to P=FV, where P is power, F is pressure, and V is speed. When the power of the driving wheel decreases and the speed remains unchanged, the pressure increases.

[0110] The third setting value is smaller than the second setting value.

[0111] When the speed difference Δv is not greater than the second set value and is not less than the third set value, it indicates that the current pressure of the driving wheel is relatively appropriate and matches the current motion state, and the current pressure does not need to be adjusted.

[0112] If the above-mentioned voltage divider is connected to the variable-diameter motor corresponding to the driving wheel, then one feasible way to adjust the pressure of the two driving wheels through the main control driving circuit 2 according to the speed difference Δv is: when the speed difference Δv is greater than the second set value, it indicates that the pressure of the driving wheel is too large and the pressure of the driving wheel needs to be reduced. The variable-diameter motor can be controlled by the voltage divider to reduce the diameter of the driving wheel, thereby reducing the pressure of the driving wheel on the pipe wall.

[0113] When the speed difference Δv is less than the third set value, it indicates that the pressure of the driving wheel is too low and the pressure of the driving wheel needs to be increased. For each driving wheel, the variable diameter motor can be controlled by a voltage divider to increase the diameter of the driving wheel and increase the pressure of the driving wheel on the pipe wall to increase the pressure of the driving wheel.

[0114] In order to better illustrate and understand the principle of the method provided by the present invention, the scheme of the present invention is described below in conjunction with an optional specific embodiment.

[0115] In this example, see Figure 3 The control system structure diagram of the pipeline robot shown in the figure includes:

[0116] The control board set inside the pipeline robot and the STM32 microcontroller set on the control board ( Figure 3 The STM32 chip shown in the figure), the main control drive circuit 2 ( Figure 3 ) and a wired interface (the wired interface may be at least one of an SB interface, an SD interface or an RS-232 interface);

[0117] The console, the SLAM module, the voltage divider connected to the control board, and the posture sensor 3 ( Figure 3The IMU sensor shown in the figure) and the pressure sensor 4, the DC brushless reduction motor ( Figure 3 The brushless DC motor shown in );

[0118] The above-mentioned control console, voltage divider, main control driving circuit 2, SLAM module, posture sensor 3 and pressure sensor 4 are respectively connected to the single chip microcomputer;

[0119] The above-mentioned posture sensor 3 is used to obtain the current posture information of the pipeline robot;

[0120] The pressure sensor 4 is used to obtain the current pressure of the two driving wheels of the pipeline robot;

[0121] The voltage divider is used to control the voltage distributed to each of the two drive wheels;

[0122] The above SLAM module is used to obtain the position information of the pipeline robot;

[0123] The brushless DC reduction motor is used to provide power for the movement of the pipeline robot;

[0124] The above console is used to obtain the user's control instructions for the pipeline robot;

[0125] The above-mentioned single chip microcomputer is used to perform the following operations:

[0126] A: Obtain the control instructions sent by the control console, and send the control instructions to the main control drive circuit 2 to control the movement of the pipeline robot according to the control instructions;

[0127] B: obtaining current posture information and current pressure, determining the speed difference between the two driving wheels according to the current posture information and the current pressure, adjusting the current posture of the pipeline robot through the main control driving circuit 2 according to the speed difference, and controlling the voltage distributed to each of the two driving wheels through a voltage divider according to the speed difference, and for each driving wheel, adjusting the current pressure of the driving wheel through the main control driving circuit 2 according to the voltage of the driving wheel;

[0128] C: Obtain position information and control the movement of the pipeline robot based on the position information.

[0129] In the solution of the present invention, the execution order of the above-mentioned A, B and C processes is not limited, and corresponding operations can be performed according to actual needs. For example, when a control instruction is obtained, A is executed, and when position information is obtained, C is executed. The above-mentioned A, B and C processes corresponding to the above-mentioned single-chip microcomputer correspond to Figure 3 The motion instructions are interpreted, calculated and executed as shown in .

[0130] The active driver also provides an I / O bus for transmitting data and control signals.

[0131] In the above control system, the power interface of the control board adopts the XT30 interface.

[0132] The above-mentioned single chip microcomputer can be based on fuzzy control algorithm (corresponding to Figure 3 The specific implementation process of the fuzzy controller shown in (determining the speed difference between the two driving wheels according to the current posture information and the current pressure has been described in detail above and will not be repeated here. The position (pressure) and attitude (tilt angle) of the driving wheel (e.g., track wheel) can be controlled based on the speed difference output by the fuzzy controller.

[0133] After determining the speed difference between the two driving wheels, if the speed difference is greater than the first set value, and the inclination angle tends to increase at this time, it indicates that the posture inclination angle is too large, that is, the pipeline robot deviates from the reference direction, where the reference direction refers to the coincidence of the driving direction of the pipeline robot with the pipeline axis, that is, the inclination angle is 0 degrees. Then, through the main control drive circuit 2, according to P = FV, where P is power, F is pressure, and V is speed. When the power P remains unchanged, the speed difference Δv increases, and the pressure difference increases accordingly; according to the pressure difference, a force F opposite to the deviation direction of the pipeline robot can be determined; according to M = Fr, where M is torque, F is force, and r is radius, representing the distance vector from the rotation axis to the point of application. When r remains unchanged, according to the force F and the radius r, a reverse torque M can be determined, which is opposite to the deviation direction of the pipeline robot. Among them, the deviation direction refers to the driving direction of the pipeline robot, that is, the direction corresponding to the maximum inclination angle. According to the reverse torque, the current posture information of the pipeline robot is adjusted so that the pipeline robot returns to the optimal posture. At this time, the speed difference between the two driving wheels becomes larger, making the pipeline robot walk more stably in the pipeline and turn more smoothly.

[0134] If the speed difference Δv is not greater than the first set value, it indicates that the current posture of the pipeline robot is good, and the current posture of the pipeline robot may not be adjusted, that is, the speed difference between the two driving wheels is kept at 0.

[0135] If the speed difference Δv is greater than the second set value, it indicates that the pressure of the driving wheel is too large and needs to be reduced. Then, for each driving wheel, through the main control driving circuit 2, according to P=UI, where P is power, I is current, and U is voltage, the voltage of the driving wheel is reduced while the current of the driving wheel remains unchanged, and the power P corresponding to the driving wheel becomes smaller. Then, according to P=FV, where P is power, F is pressure, and V is speed. When the power of the driving wheel decreases and the speed remains unchanged, the pressure decreases.

[0136] When the speed difference Δv is less than the third set value, it indicates that the pressure of the driving wheel is too small and the pressure of the driving wheel needs to be increased. For each driving wheel, through the main control driving circuit 2, according to P=UI, where P is power, I is current, and U is voltage, when the current of the driving wheel remains unchanged, the voltage of the driving wheel is increased, and the power P corresponding to the driving wheel becomes larger, and then according to P=FV, where P is power, F is pressure, and V is speed. When the power of the driving wheel decreases and the speed remains unchanged, the pressure increases. Among them, the third set value is less than the second set value.

[0137] When the speed difference Δv is not greater than the second set value and is not less than the third set value, it indicates that the current pressure of the driving wheel is relatively appropriate and matches the current motion state, and the current pressure does not need to be adjusted.

[0138] The control system of the pipeline robot provided in this embodiment has the following technical effects:

[0139] On the first aspect, the current posture information of the pipeline robot is obtained based on the posture sensor 3 arranged on the driving wheel of the pipeline robot, and the current pressure of the two driving wheels of the pipeline robot is obtained based on the pressure sensor 4 arranged on the pipeline robot. The single-chip microcomputer determines the speed difference between the two driving wheels according to these two parameters, and reflects the posture change of the pipeline robot and the pressure change of the driving wheel through the speed difference, so as to adjust the posture of the pipeline robot and the pressure of the driving wheel according to the speed difference. For pipelines with complex structures, the control system can simultaneously control the posture of the pipeline robot in the pipeline and the pressure of the driving wheel, thereby improving the timeliness of the control system. Moreover, whether it is the adjustment of posture or pressure, the lower movement of the pipeline robot is adjusted, thereby improving the stability of the robot movement. In addition, whether it is the adjustment of posture or pressure, it is based on the two parameters of current posture information and current pressure, thereby improving the control accuracy.

[0140] Secondly, when adjusting the pressure, the two driving wheels can be adjusted separately through the voltage divider, which can meet more complex scenarios and further improve the control accuracy.

[0141] Thirdly, in some scenarios, the pipeline robot can not only automatically control its movement in the pipeline based on its own information, but also realize manual control of the pipeline robot based on the user's control instructions through the console, thereby ensuring the smooth operation of the pipeline robot.

[0142] Fourthly, the use of a brushless DC reduction motor to provide power for the pipeline gasifier can make the structure simpler compared to other transmission devices.

[0143] Fifthly, a wired interface is also provided on the control system, through which the pipeline robot can communicate with external devices to meet different communication requirements. Moreover, in the absence of a network, communication can be carried out through wired communication to ensure the normal operation of the pipeline robot.

[0144] Sixthly, the pipeline robot can use the position information collected by the SLAM module to automatically control the movement of the pipeline robot in the pipeline through the processor 1 to ensure that the pipeline robot runs smoothly in the pipeline.

[0145] Based on Figure 1 Based on the same principle as the control system shown in , the embodiment of the present invention also provides a control method for a pipeline robot, such as Figure 4 As shown in , the method may include:

[0146] Step S110, obtaining the current position information of the pipeline robot and the current pressure of two driving wheels of the pipeline robot;

[0147] Step S120, determining the speed difference between the two driving wheels according to the current posture information and the current pressure;

[0148] Step S130: adjusting the current posture of the pipeline robot and the current pressure of the two driving wheels according to the speed difference.

[0149] Optionally, the above step S130, respectively adjusting the current posture of the pipeline robot and the current pressure of the two driving wheels according to the speed difference, includes:

[0150] According to the speed difference, the reverse torque is determined, and the current posture of the pipeline robot is adjusted according to the reverse torque so that the pipeline robot is close to the reference direction. The direction of the reverse torque is opposite to the deviation direction of the pipeline robot. The reference direction is the axis direction of the pipeline, and the deviation direction is the direction that deviates from the reference direction.

[0151] According to the speed difference, the driving wheel diameters of the two driving wheels are adjusted to adjust the current pressures of the two driving wheels.

[0152] The direction of the reverse torque being opposite to the deviation direction refers to a direction that makes the pipeline robot approach the reference direction.

[0153] Optionally, determining the reverse torque according to the speed difference includes:

[0154] When the speed difference is greater than a first set value, determining the pressure difference according to a correlation between the speed difference and the pressure difference;

[0155] According to the pressure difference, determine the force in the opposite direction;

[0156] Based on the opposing force, determine the opposing torque.

[0157] Among them, the above-mentioned first setting value can be configured based on actual needs. The larger the speed difference, the more the pipeline robot may deviate from the reference direction. According to P=FV, when the power P remains unchanged, the larger the speed difference, the larger the pressure difference. The pressure difference can be determined according to the speed difference. The force in the direction can be determined by the pressure difference. Then, according to the torque M=Fr, r remains unchanged, the reverse torque M can be calculated. According to the reverse torque, the adjusted pipeline robot can be brought close to the reference direction. When the speed difference is not greater than the first setting value, the current posture of the pipeline robot is not adjusted.

[0158] Optionally, the process of adjusting the driving wheel diameters of the two driving wheels according to the speed difference includes:

[0159] When the speed difference is greater than a second set value, the driving wheel diameter of the driving wheel is reduced so that the pressure of the adjusted driving wheel becomes smaller;

[0160] When the speed difference is smaller than a third set value, the driving wheel diameter of the driving wheel is increased so that the pressure of the adjusted driving wheel becomes larger, wherein the third set value is smaller than the second set value.

[0161] Among them, when the speed difference is greater than the second set value, it indicates that the pressure of the driving wheel is too large, and the driving wheel diameter of the driving wheel can be adjusted to be small, so that the pressure of the driving wheel after adjustment becomes smaller. When the speed difference is less than the third set value, it indicates that the pressure of the driving wheel is too small, and the driving wheel diameter of the driving wheel can be adjusted to be large, so that the pressure of the driving wheel after adjustment becomes larger. The above-mentioned adjusted driving wheels can be one driving wheel or two driving wheels. For example, usually when the speed difference increases, the pressure difference also increases. In this case, the pressure of one driving wheel may be too large, and the pressure of the other driving wheel does not need to be adjusted. In this case, only the pressure of the driving wheel with excessive pressure can be adjusted. Similarly, when the speed difference decreases, the pressure difference also decreases. In this case, the pressure of one driving wheel may be too small, and the pressure of the other driving wheel does not need to be adjusted. In this case, only the pressure of the driving wheel with too small pressure can be adjusted.

[0162] The second setting value and the third setting value mentioned above can be configured based on actual needs and are not limited in the present invention.

[0163] It should be noted that the above control method is based on the same implementation principle as the control system of the pipeline robot described above. The specific implementation method of determining the speed difference between the two driving wheels based on the current posture information and the current pressure is the same as the specific implementation method described above, and will not be repeated here. The specific implementation method of adjusting the current posture of the pipeline robot and the current pressure of the two driving wheels based on the speed difference is the same as the specific implementation method described above, and will not be repeated here.

[0164] Based on Figure 1 The present invention also provides a control device 20 for a pipeline robot based on the same principle as the control system shown in FIG. Figure 5 As shown in , the control device 20 of the pipeline robot may include a data acquisition module 210, a speed difference determination module 220 and an adjustment module 230, wherein:

[0165] A data acquisition module 210 is used to acquire the current position information of the pipeline robot and the current pressure of the two driving wheels of the pipeline robot;

[0166] A speed difference determination module 220, for determining a speed difference between two driving wheels according to current posture information and current pressure;

[0167] The adjustment module 230 is used to adjust the current posture of the pipeline robot and the current pressure of the two driving wheels according to the speed difference.

[0168] Optionally, when the adjustment module 230 adjusts the current posture of the pipeline robot and the current pressure of the two driving wheels according to the speed difference, it is specifically used to:

[0169] According to the speed difference, the reverse torque is determined, and the current posture of the pipeline robot is adjusted according to the reverse torque so that the pipeline robot is close to the reference direction. The direction of the reverse torque is opposite to the deviation direction of the pipeline robot. The reference direction is the axis direction of the pipeline, and the deviation direction is the direction that deviates from the reference direction.

[0170] According to the speed difference, the driving wheel diameters of the two driving wheels are adjusted to adjust the current pressures of the two driving wheels.

[0171] The control device of the pipeline robot of the embodiment of the present invention can execute the control method of the pipeline robot provided by the embodiment of the present invention, and the implementation principle is similar. The actions performed by each module and unit in the control device of the pipeline robot in each embodiment of the present invention correspond to the steps in the control method of the pipeline robot in each embodiment of the present invention. For the detailed functional description of each module of the control device of the pipeline robot, please refer to the description in the corresponding control method of the pipeline robot shown in the previous text, which will not be repeated here.

[0172] Among them, the control device of the above-mentioned pipeline robot can be a computer program (including program code) running in a computer device, for example, the engine control device is an application software; the device can be used to execute the corresponding steps in the method provided in the embodiment of the present invention.

[0173] In some embodiments, the control device of the pipeline robot provided by the embodiment of the present invention can be implemented by a combination of software and hardware. As an example, the control device of the pipeline robot provided by the embodiment of the present invention can be a processor in the form of a hardware decoding processor, which is programmed to execute the engine control method provided by the embodiment of the present invention. For example, the processor in the form of a hardware decoding processor can adopt one or more application-specific integrated circuits (ASICs), DSPs, programmable logic devices (PLDs), complex programmable logic devices (CPLDs), field programmable gate arrays (FPGAs) or other electronic components.

[0174] In other embodiments, the control device of the pipeline robot provided by the embodiments of the present invention can be implemented in a software manner. Figure 5 A control device of a pipeline robot stored in a memory is shown, which may be software in the form of a program and a plug-in, and includes a series of modules, including a data acquisition module 210, a speed difference determination module 220 and an adjustment module 230, for implementing a control method of a pipeline robot provided in an embodiment of the present invention.

[0175] The modules involved in the embodiments of the present invention may be implemented by software or hardware, wherein the name of a module does not limit the module itself in some cases.

[0176] Based on the same principle as the method shown in the embodiments of the present invention, an electronic device is also provided in the embodiments of the present invention, which may include but is not limited to: a processor and a memory; the memory is used to store a computer program; the processor is used to execute the control method of the pipeline robot shown in any embodiment of the present invention by calling the computer program.

[0177] In an alternative embodiment, an electronic device is provided, such as Figure 6 As shown, Figure 6The electronic device 4000 shown includes: a processor 4001 and a memory 4003. The processor 4001 and the memory 4003 are connected, such as through a bus 4002. Optionally, the electronic device 4000 may also include a transceiver 4004, which may be used for data interaction between the electronic device and other electronic devices, such as data transmission and / or data reception. It should be noted that in actual applications, the transceiver 4004 is not limited to one, and the structure of the electronic device 4000 does not constitute a limitation on the embodiments of the present invention.

[0178] Processor 4001 may be a CPU (Central Processing Unit), a general-purpose processor, a DSP (Digital Signal Processor), an ASIC (Application Specific Integrated Circuit), an FPGA (Field Programmable Gate Array) or other programmable logic devices, transistor logic devices, hardware components or any combination thereof. It may implement or execute various exemplary logic blocks, modules and circuits described in conjunction with the disclosure of the present invention. Processor 4001 may also be a combination that implements computing functions, such as a combination of one or more microprocessors, a combination of a DSP and a microprocessor, etc.

[0179] The bus 4002 may include a path to transmit information between the above components. The bus 4002 may be a PCI (Peripheral Component Interconnect) bus or an EISA (Extended Industry Standard Architecture) bus. The bus 4002 may be divided into an address bus, a data bus, a control bus, etc. For ease of representation, Figure 6 Only one thick line is used in the diagram, but this does not mean that there is only one bus or only one type of bus.

[0180] The memory 4003 can be a ROM (Read Only Memory) or other types of static storage devices that can store static information and instructions, a RAM (Random Access Memory) or other types of dynamic storage devices that can store information and instructions, or an EEPROM (Electrically Erasable Programmable Read Only Memory), a CD-ROM (Compact Disc Read Only Memory) or other optical disk storage, optical disk storage (including compressed optical disk, laser disk, optical disk, digital versatile disk, Blu-ray disk, etc.), a magnetic disk storage medium or other magnetic storage device, or any other medium that can be used to carry or store the desired program code in the form of instructions or data structures and can be accessed by a computer, but is not limited to this.

[0181] The memory 4003 is used to store the application code (computer program) for executing the solution of the present invention, and the execution is controlled by the processor 4001. The processor 4001 is used to execute the application code stored in the memory 4003 to implement the content shown in the above method embodiment.

[0182] The electronic device may also be a terminal device. Figure 6 The electronic device shown is only an example and should not bring any limitation to the functions and scope of use of the embodiments of the present invention.

[0183] An embodiment of the present invention provides a computer-readable storage medium, on which a computer program is stored. When the computer-readable storage medium is run on a computer, the computer can execute the corresponding contents of the aforementioned method embodiment.

[0184] According to another aspect of the present invention, a computer program product or a computer program is also provided, the computer program product or the computer program comprising computer instructions, the computer instructions being stored in a computer-readable storage medium. A processor of a computer device reads the computer instructions from the computer-readable storage medium, and the processor executes the computer instructions, so that the computer device executes the engine control method provided in the implementation of the above-mentioned various embodiments.

[0185] Computer program code for performing the operations of the present invention may be written in one or more programming languages, or a combination thereof, including object-oriented programming languages, such as Java, Smalltalk, C++, and conventional procedural programming languages, such as "C" or similar programming languages. The program code may be executed entirely on the user's computer, partially on the user's computer, as a separate software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In cases involving a remote computer, the remote computer may be connected to the user's computer through any type of network, including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computer (e.g., through the Internet using an Internet service provider).

[0186] It should be understood that the flow charts and block diagrams in the accompanying drawings illustrate the possible implementation architecture, functions and operations of the method and computer program product according to various embodiments of the present invention. In this regard, each box in the flow chart or block diagram can represent a module, a program segment, or a part of a code, and the module, the program segment, or a part of the code contains one or more executable instructions for realizing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the box can also occur in a sequence different from that marked in the accompanying drawings. For example, two boxes represented in succession can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each box in the block diagram and / or flow chart, and the combination of the boxes in the block diagram and / or flow chart can be implemented with a dedicated hardware-based system that performs a specified function or operation, or can be implemented with a combination of dedicated hardware and computer instructions.

[0187] The computer-readable storage medium provided by the embodiment of the present invention may be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, device or device, or any combination thereof. More specific examples of computer-readable storage media may include, but are not limited to, an electrical connection with one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination thereof. In the present invention, a computer-readable storage medium may be any tangible medium containing or storing a program that may be used by or in conjunction with an instruction execution system, device, or device.

[0188] The computer-readable storage medium carries one or more programs. When the one or more programs are executed by the electronic device, the electronic device executes the method shown in the above embodiment.

[0189] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as limiting the present invention.

[0190] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In the description of the present invention, the meaning of "plurality" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0191] In the present invention, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements, unless otherwise clearly defined. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0192] In the present invention, unless otherwise clearly specified and limited, a first feature being "above" or "below" a second feature may mean that the first and second features are in direct contact, or the first and second features are in indirect contact through an intermediate medium. Moreover, a first feature being "above", "above" or "above" a second feature may mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is higher in level than the second feature. A first feature being "below", "below" or "below" a second feature may mean that the first feature is directly below or obliquely below the second feature, or simply means that the first feature is lower in level than the second feature.

[0193] Although the embodiments of the present invention have been shown and described above, it is to be understood that the above embodiments are exemplary and are not to be construed as limitations of the present invention. A person skilled in the art may change, modify, replace and vary the above embodiments within the scope of the present invention.

[0194] The above description is only a preferred embodiment of the present invention and an explanation of the technical principles used. Those skilled in the art should understand that the disclosure scope involved in the present invention is not limited to the technical solution formed by a specific combination of the above technical features, but should also cover other technical solutions formed by any combination of the above technical features or their equivalent features without departing from the above disclosed concept. For example, the above features are replaced with the technical features with similar functions disclosed in the present invention (but not limited to) by each other.

Claims

1. A control system for a pipeline robot, characterized in that: include: A processor and a main control drive circuit arranged inside the pipeline robot, and a posture sensor and a pressure sensor arranged on the pipeline robot; The main control driving circuit, the posture sensor and the pressure sensor are respectively connected to the processor; The posture sensor is used to obtain the current posture information of the pipeline robot; The pressure sensor is used to obtain the current pressure of the two driving wheels of the pipeline robot; The processor is used to obtain the current posture information and the current pressure, determine the speed difference between the two driving wheels according to the current posture information and the current pressure, and adjust the current posture of the pipeline robot and the current pressure of the two driving wheels respectively through the main control driving circuit according to the speed difference; The control system further comprises a voltage divider arranged inside the pipeline robot, and the voltage divider is respectively connected to the processor and the main control driving circuit; The voltage divider is used to control the voltage distributed to each of the two driving wheels; The processor further includes, in the process of adjusting the current pressure of the two driving wheels by the main control driving circuit according to the speed difference: According to the speed difference, the voltage distributed to each of the two driving wheels is controlled by the voltage divider, and for each driving wheel, the current pressure of the driving wheel is adjusted by the main control driving circuit according to the voltage of the driving wheel; The processor and the main control driving circuit are arranged on a control board, and data communication is performed through the control board. All the components of the control board are stored in an aluminum box, and the interface of the control board adopts a spiral matching method; When the processor determines the speed difference between the two driving wheels according to the current posture information and the current pressure, it is specifically used to: Acquire the maximum inclination angle θmax of the pipeline robot through a posture sensor, and characterize the maximum inclination angle θmax as the current posture information; Acquire the maximum pressure Fmax of the pipeline robot through a pressure sensor, and use the maximum pressure Fmax to represent the current pressure; Obtaining a set pressure F0 and a set inclination angle θ0 of the pipeline robot; Determine the pressure deviation F and the pressure change rate EF according to the set pressure F0 and the maximum pressure Fmax; Determine the tilt angle deviation θ and the tilt angle change rate Eθ according to the set tilt angle θ0 and the maximum tilt angle θmax; The pressure deviation F and the pressure change rate EF are used as the input of the position fuzzy controller FC1, and the speed difference Δv1 of the two driving wheels is output; The tilt angle deviation θ and the tilt angle change rate Eθ are used as the input of the posture fuzzy controller FC2, and the speed difference Δv2 of the two driving wheels is output; The speed difference Δv between the two drive wheels is determined based on the speed difference Δv1 and the speed difference Δv2.

2. The control system according to claim 1, characterized in that: The posture sensor is arranged on the driving wheel of the pipeline robot; The control system also includes a brushless DC reduction motor, and the brushless DC reduction motor is connected to the posture sensor; The brushless DC reduction motor is used to provide power for the movement of the pipeline robot.

3. The control system according to claim 1 or 2, characterized in that: The control system further includes a console, the console is connected to the processor, and the console is arranged outside the pipeline robot; The console is used to obtain control instructions from the user on the pipeline robot; The processor is further used to obtain the control instruction and send the control instruction to the main control drive circuit to control the movement of the pipeline robot according to the control instruction; The control system further comprises a synchronous positioning and mapping module, the synchronous positioning and mapping module is arranged on the pipeline robot, and the synchronous positioning and mapping module is connected to the processor; The synchronous positioning and mapping module is used to obtain the position information of the pipeline robot; The processor is further used to obtain the position information and control the movement of the pipeline robot according to the position information.

4. The control system according to claim 1 or 2, characterized in that: The control system also includes a wired interface, which is connected to the main control drive circuit, and the wired interface includes at least one of a universal serial bus USB interface, a secure digital card SD interface or an asynchronous transmission standard RS-232 interface.

5. A control method for a pipeline robot, characterized in that: A control system applied to any one of claims 1 to 4, comprising: Acquire current position information of the pipeline robot and current pressure of two driving wheels of the pipeline robot; Determining a speed difference between the two driving wheels according to the current posture information and the current pressure; According to the speed difference, the current posture of the pipeline robot and the current pressure of the two driving wheels are adjusted respectively.

6. The method according to claim 5, characterized in that The adjusting the current posture of the pipeline robot and the current pressure of the two driving wheels respectively according to the speed difference includes: Determine a reverse torque according to the speed difference, and adjust the current posture of the pipeline robot according to the reverse torque so that the pipeline robot is close to a reference direction, wherein the direction of the reverse torque is opposite to the deviation direction of the pipeline robot, the reference direction is the axial direction of the pipeline, and the deviation direction is the direction deviating from the reference direction; According to the speed difference, the driving wheel diameters of the two driving wheels are adjusted to adjust the current pressures of the two driving wheels.

7. A control device for a pipeline robot, characterized in that: A control system applied to any one of claims 1 to 4, comprising: A data acquisition module, used to acquire current position information of the pipeline robot and current pressure of two driving wheels of the pipeline robot; A speed difference determination module, used to determine the speed difference between the two driving wheels according to the current posture information and the current pressure; The adjustment module is used to adjust the current posture of the pipeline robot and the current pressure of the two driving wheels according to the speed difference.

8. An electronic device, characterized in that: The method comprises a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the method according to any one of claims 5 to 6 when executing the computer program.

9. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the method according to any one of claims 5 to 6 is implemented.

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