A Dual Magnetic Wheel Control Method and System for Pipeline Robots

Abstract

A dual magnetic wheel control method and system applicable to pipeline robots, belonging to the technical field of robot motion control. It adopts a deviation coupling control method for the dual motors of the robot based on the calculation of the spatial position transformation in the pipeline. According to the changes in the motion spatial position and the force conditions of the pipeline robot in the pipeline, deviation coupling is carried out, and at the same time, real-time speed regulation is carried out to ensure that the position and speed can meet the detection process requirements simultaneously; a remote communication control device is used to complete the transmission of control signals and the signals of the robot's state and posture; the position and speed are controlled simultaneously, improving the motion efficiency of the pipeline robot, reducing the position adjustment time, and improving the efficiency. Through this motion control method and device, the pipeline robot is more accurate in position and has smaller speed fluctuations during the movement along the motion route, providing a basis for the detection in the pipeline.

Description

Technical Field

[0001] The present invention belongs to the technical field of robot motion control, and particularly relates to a dual magnetic wheel control method and system for a pipeline robot. Background Art

[0002] When a pipeline robot detects the welds inside a pipeline, it is necessary to control the robot to travel along the welds at a certain speed. The welds inside the pipeline include circumferential welds, straight welds, spiral welds, etc. To achieve complete and accurate detection of the welds, the travel deviation and movement speed of the robot need to be accurately controlled. In addition, when the robot inside the pipeline moves along the pipe wall, due to gravity and the cylindrical shape of the pipe wall, it is easy to have speed fluctuations or large displacement deviations. Summary of the Invention

[0003] In order to solve the above problems, the purpose of the present invention is to provide a dual magnetic wheel control method and system for a pipeline robot, with simple system components and convenient operation, which can efficiently and accurately achieve remote control of the pipeline robot.

[0004] The present invention is achieved through the following technical solutions:

[0005] The present invention discloses a dual magnetic wheel control method for a pipeline robot, including:

[0006] S1: Planning the spatial travel trajectory of the pipeline robot;

[0007] S2: Driving the pipeline robot according to the spatial travel trajectory obtained in S1, collecting real-time parameters and calculating the deviation of the dual magnetic wheels of the pipeline robot;

[0008] S3: Performing speed compensation on the pipeline robot according to the deviation data obtained in S2 to achieve control of the pipeline robot.

[0009] Preferably, S1 is specifically: establishing a coordinate system according to the detected pipeline, calculating the spatial positions of the welds inside the pipeline to determine the spatial coordinate data of the welds; establishing a world coordinate system, determining the coordinate origin, placing the pipeline in the world coordinate system, and determining the coordinates of any point inside the pipeline according to the pipeline dimensions; establishing the coordinates of the welds inside the pipeline, determining the initial position of the pipeline robot, and performing spatial travel trajectory calculation according to the detected weld coordinates.

[0010] Further preferably, the coordinates of the welds inside the pipeline are determined according to the pipeline welding process data.

[0011] Further preferably, S2 specifically includes:

[0012] S2.1: Based on the spatial coordinate data of the weld in the inspection pipeline obtained in S1 and the established coordinate system, calculate the ideal trajectory coordinates, ideal traveling speed, and ideal attitude at the corresponding trajectory coordinate points of the pipeline robot;

[0013] S2.2: Real-time collect the parameters that can feedback the traveling speed and displacement of the pipeline robot. Based on the initial position of the pipeline robot and combined with the attitude data of the pipeline robot, calculate the real-time speed and position of the pipeline robot, and find the difference from the ideal traveling speed and ideal attitude of the pipeline robot to obtain the speed deviation and position deviation of the pipeline robot;

[0014] S2.3: Calculate the deviation of the positions of the two magnetic wheels from the ideal position respectively, and calculate the deviation of the speeds of the two magnetic wheels from the ideal speed respectively.

[0015] Further preferably, the traveling displacement parameter of the pipeline robot is obtained through an encoder, and the attitude data of the pipeline robot is obtained through a gyroscope.

[0016] Preferably, S3 is specifically as follows: First, perform position control. Compare the deviation values of the two magnetic wheels, select the one with the smaller deviation as the reference, and adjust the larger deviation until the deviation values of the two magnetic wheels are within the given position accuracy range; then perform speed control. According to the result of the position deviation comparison, adjust the speed of the magnetic wheel with the larger position deviation and its direction, increase the speed of this wheel, and adjust the direction towards the direction where the position deviation becomes smaller until both the position deviation and the speed deviation are within the inspection process range.

[0017] The present invention discloses a system for implementing the above-mentioned dual magnetic wheel control method applicable to a pipeline robot, including a remote control computer, a network switch and a gyroscope installed on the pipeline robot, and an encoder, a motor controller and a driver installed on each magnetic wheel; the driver is connected to the magnetic wheel, the motor controller is connected to the driver, and the motor controller, the encoder and the gyroscope are respectively connected to the remote control computer through the network switch.

[0018] Preferably, the encoders, motor controllers and drivers installed on the two magnetic wheels are all of the same model.

[0019] Compared with the prior art, the present invention has the following beneficial technical effects:

[0020] A dual magnetic wheel control method applicable to pipeline robots disclosed by the present invention adopts a deviation coupling control method for dual motors of the robot based on the calculation of the spatial position transformation within the pipeline. According to the change of the moving spatial position and the force condition of the pipeline robot within the pipeline, deviation coupling is performed, and at the same time, real-time speed regulation is carried out to ensure that the position and speed can simultaneously meet the requirements of the detection process. A remote communication control device is used to complete the transmission of control signals and the signals of the state and posture of the robot. The position and speed are controlled simultaneously, improving the movement efficiency of the pipeline robot, reducing the position adjustment time, and enhancing the efficiency. Through this motion control method and device, the pipeline robot is more accurate in position and has smaller speed fluctuations during the movement along the route, providing a basis for the detection within the pipeline.

[0021] The system for implementing the above-mentioned dual magnetic wheel control method applicable to pipeline robots disclosed by the present invention can be realized by using general control equipment. The system is simple and reliable in construction, has a remote control function, and can efficiently and accurately realize the remote control of the pipeline robot.

[0022] Furthermore, the encoders, motor controllers, and drivers installed on the two magnetic wheels are all of the same model, which is convenient for calculation and synchronous control. Brief Description of the Drawings

[0023] Figure 1 It is a schematic diagram for calculating the world coordinate system and the traveling distance within the pipeline of the present invention;

[0024] Figure 2 It is a schematic diagram for regulating the position of the pipeline robot of the present invention;

[0025] Figure 3 It is a schematic flow diagram for the deviation coupling calculation of the present invention. Detailed Embodiments

[0026] The following further describes the present invention in detail with reference to the drawings and specific embodiments. The content is an explanation of the present invention rather than a limitation:

[0027] The pipeline robot of this embodiment and the devices related to the present invention mainly include magnetic wheel A, magnetic wheel B, driver A, driver B, motor controller A, motor controller B, encoder A, encoder B, gyroscope, remote control computer, network switch, and power supply. Magnetic wheel A and magnetic wheel B are installed on the pipeline robot to provide driving force for the pipeline robot. Encoder A and encoder B are installed on magnetic wheel A and magnetic wheel B to provide displacement data for the pipeline robot. The gyroscope is installed on the pipeline robot to provide attitude data of the pipeline robot for motion control. Motor controller A is connected to driver A, and driver A is connected to magnetic wheel A; motor controller B is connected to driver B, and driver B is connected to magnetic wheel B; motor controller A and motor controller B are connected to the remote control computer through the network switch. Encoder A and encoder B, as well as the gyroscope, are connected to the remote control computer through the network switch. The remote control computer implements the dual magnetic wheel motion control algorithm and the display of the position and attitude of the pipeline robot. The power supply powers the pipeline robot.

[0028] Driver A and driver B have the same model, motor controller A and motor controller B have the same model, and encoder A and encoder B have the same model, which is convenient for calculation and synchronous control.

[0029] The dual magnetic wheel control method applicable to the pipeline robot of the present invention adopts a robot dual-motor deviation coupling control method based on the calculation of spatial position transformation in the pipeline; according to the detection task of the pipeline robot in the pipeline, route planning is carried out, spatial position transformation calculation is carried out, the force conditions of the robot in different postures are fully considered during the calculation process, and calculations are carried out, and the calculation results are integrated into the deviation coupling to control the dual motors. It mainly includes the following steps:

[0030] The first step is the spatial travel trajectory planning of the pipeline robot.

[0031] As Figure 1 , a coordinate system is established according to the detected pipeline, the spatial position of the weld in the pipeline is calculated, and the spatial coordinate data of the weld is determined. A world coordinate system is established, and the coordinates of any point in the pipeline are determined according to the pipeline size of the inner wall of the pipeline. According to the pipeline welding process data, etc., the weld coordinates in the pipeline are established. The initial position of the pipeline robot is determined, and according to the detected weld coordinates, the travel trajectory is planned.

[0032] The second step is the calculation of the deviation of the dual magnetic wheels.

[0033] The pipeline robot needs to travel along the weld seam to complete the weld inspection, and the traveling speed usually needs to be carried out according to the speed required by the inspection process. According to the traveling trajectory planning in the first step, to drive the pipeline robot, it is necessary to synchronously control the two magnetic wheels, give control signals at the same time, and compensate parameters such as speed, so as to ensure that the traveling position accuracy of the pipeline robot meets the requirements of the inspection process.

[0034] S2-1. Based on the weld seam inside the inspected pipeline and the established coordinate system, calculate the ideal trajectory coordinates, ideal traveling speed of the pipeline robot, and the ideal attitude of the pipeline robot at the corresponding trajectory coordinate points.

[0035] S2-2. Calculate the speed and position deviation of the pipeline robot. By sampling the rotational speed of the magnetic wheels and the encoder data, the traveling speed and traveling displacement of the pipeline robot are real-time fed back. Based on the initial position of the pipeline robot, and the real-time fed-back speed and displacement data, combined with the output data of the gyroscope, calculate the real-time speed and position of the pipeline robot. Subtract the speed and position of the pipeline robot obtained by sampling the rotational speed of the magnetic wheels and the gyroscope data from the ideal speed and ideal attitude, then the speed and position deviation of the pipeline robot can be obtained.

[0036] S2-3. Deviation calculation. As Figure 2 , carry out the real-time position deviation calculation of the pipeline robot, calculate the position deviation of the two magnetic wheels from the ideal position respectively. The position deviation PA is the deviation of magnetic wheel A from the ideal position, and the position deviation PB is the deviation of magnetic wheel B from the ideal position. Carry out the real-time speed deviation calculation of the pipeline robot, calculate the speed deviation of the two magnetic wheels from the ideal speed respectively. The speed deviation SA is the deviation of magnetic wheel A corresponding to the ideal speed, and the speed deviation SB is the deviation of magnetic wheel B corresponding to the ideal speed.

[0037] The third step is to carry out speed compensation based on the calculated deviation data to complete the position and speed control of the pipeline robot. As Figure 3 , first carry out position control, compare the values of PA and PB, select the one with the smaller deviation as the reference, and adjust the larger deviation until the values of PA and PB are within the given position accuracy range. Secondly, carry out speed control, adjust the speed according to the result of the position deviation comparison, adjust the speed and direction of the magnetic wheel with the larger position deviation, increase the speed of this wheel, and adjust the direction towards the direction where the position deviation becomes smaller until both the position deviation and the speed deviation are within the inspection process range.

[0038] It should be noted that the above is only a part of the embodiments of the present invention. Equivalent changes made to the system described according to the present invention are all included in the protection scope of the present invention. Those skilled in the art to which the present invention pertains can make similar alternative means to the specific examples described, as long as they do not deviate from the structure of the present invention or exceed the scope defined by this claims, they all fall within the protection scope of the present invention.

Claims

1. A dual magnetic wheel control method applicable to pipeline robots, characterized in that, Including: S1: Planning the spatial travel trajectory of the pipeline robot; S2: Driving the pipeline robot according to the spatial travel trajectory obtained in S1, collecting real-time parameters and calculating the deviation of the two magnetic wheels of the pipeline robot; S3: According to the deviation data obtained in S2, performing speed compensation on the pipeline robot to achieve the control of the pipeline robot; Specifically, S1 is as follows: Establish a coordinate system according to the detected pipeline, calculate the spatial position of the weld in the pipeline to determine the spatial coordinate data of the weld; establish a world coordinate system, determine the coordinate origin, place the pipeline in the world coordinate system, and determine the coordinates of any point in the pipeline according to the pipeline size; establish the weld coordinates in the pipeline, determine the initial position of the pipeline robot, and perform spatial travel trajectory calculation according to the detected weld coordinates; Specifically, S2 includes: S2.1: According to the spatial coordinate data of the weld in the detected pipeline obtained in S1 and the established coordinate system, calculate the ideal trajectory coordinates, ideal travel speed and ideal attitude at the corresponding trajectory coordinate points of the pipeline robot; S2.2: Real-time collect the parameters that can feedback the travel speed and travel displacement of the pipeline robot. According to the initial position of the pipeline robot and combined with the attitude data of the pipeline robot, calculate the real-time speed and position of the pipeline robot, and take the difference with the ideal travel speed and ideal attitude of the pipeline robot to obtain the speed deviation and position deviation of the pipeline robot; S2.3: Calculate the deviation of the positions of the two magnetic wheels from the ideal position respectively, and calculate the deviation of the speeds of the two magnetic wheels from the ideal speed respectively; Specifically, S3 is as follows: First, perform position control, compare the deviation values of the two magnetic wheels, select the one with the smaller deviation as the reference, and adjust the larger deviation until the deviation values of the two magnetic wheels are within the given position accuracy range; then perform speed control, and perform speed regulation according to the result of the position deviation comparison, adjust the speed and direction of the magnetic wheel with the larger position deviation, increase the speed of this wheel, and adjust the direction towards the direction where the position deviation becomes smaller until both the position deviation and the speed deviation are within the detection process range.

2. The dual magnetic wheel control method for a pipeline robot according to claim 1, characterized in that, The weld coordinates in the pipeline are determined according to the pipeline welding process data.

3. The dual magnetic wheel control method for a pipeline robot according to claim 1, characterized in that, The travel displacement parameters of the pipeline robot are obtained through an encoder, and the attitude data of the pipeline robot are obtained through a gyroscope.

4. A system for implementing the double magnetic wheel control method for a pipeline robot according to any one of claims 1 to 3, characterized in that, Including a remote control computer, a network switch and a gyroscope installed on the pipeline robot, as well as an encoder, a motor controller and a driver installed on each magnetic wheel; the driver is connected to the magnetic wheel, the motor controller is connected to the driver, and the motor controller, the encoder and the gyroscope are respectively connected to the remote control computer through the network switch.

5. The system for implementing the dual magnetic wheel control method applicable to a pipeline robot according to claim 4, characterized in that, The encoders, motor controllers and drivers installed on the two magnetic wheels are all of the same model.

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