Pipeline robot operating mechanism and virtual reality and force feedback control method

Abstract

The application discloses a pipeline robot operation mechanism and a virtual reality and force feedback control method, and relates to the technical field of robots, which comprises a mobile chassis, an operation mechanism and a control system, the operation mechanism comprises a lifting mechanism, a holder mechanism and a dredging mechanism, the control system comprises a virtual reality unit and a force feedback hand controller, the virtual reality unit comprises a sensor module, a controller module, a network cable and a computer, the sensor module comprises a laser radar, an odometer, an inertial unit and a current sensor, the operation mechanism, the sensor module and the controller module are installed on the mobile chassis, the controller module and the computer are connected through the network cable, and the force feedback hand controller is connected with the computer through another network cable. The three-dimensional environment reconstruction method is used for three-dimensional reconstruction of a pipeline environment to realize virtual reality visual feedback, and the force feedback hand controller is used for controlling the mobile chassis and the operation mechanism. The application provides real-time feedback of vision and force touch, and improves the safety of robot operation.

Description

Technical Field

[0001] This invention relates to multi-sensor fusion, robot control, force feedback devices, and virtual reality, belonging to the interdisciplinary field of mechanics, robotics, control science, computer science, human-computer interaction technology, and sensing technology. Specifically, it relates to a pipeline robot working mechanism and a virtual reality and force feedback control method. Background Technology

[0002] Drainage pipelines play a vital role in sanitation, environmental protection, urban planning, infrastructure, and water resource management. Using pipeline robots for operation and maintenance is of great significance to human society. Since pipeline robots mostly operate underground, the internal environment cannot be directly observed by the human eye; they primarily rely on various sensors to perceive the external environment. However, the internal environment of pipelines is complex, necessitating real-time communication with a ground control center to promptly control the robot in response to these complex conditions. Controlling these robots through virtual reality visual and force feedback can improve the accuracy of operator control, which is invaluable for pipeline detection and dredging. Virtual reality uses computer simulation to create a three-dimensional virtual world, providing users with sensory simulations such as vision, making them feel as if they are actually there, allowing them to observe objects in three-dimensional space instantly and without limitations. Force feedback devices are human-machine interface devices with force and tactile perception, enhancing the operator's sense of presence when controlling the robot's movement. On one hand, it can measure the position information of the operator's hand as control commands to control the robot, or the virtual robot in virtual reality can track the movement of the operator's hand. On the other hand, the force / tactile information fed back by the robot is used as input to control the motor's output force / torque, allowing the operator to feel the force feedback. This creates an immersive force / tactile experience, similar to being physically present at the robot's work site or in a virtual environment, enabling remote operation control with force / tactile feedback. Traditional pipeline robot control methods suffer from a lack of intuitiveness and insufficient operator awareness of the robot's environment. For example, the wireless transmission dual-core six-axis tracked natural gas pipeline robot control system (invention patent application number: CN105856235B) provides limited sensory feedback to the operator. Furthermore, in actual pipeline robot operation, if the operator cannot clearly perceive the environment in a timely manner, the robot may be damaged in harsh pipeline conditions, causing significant inconvenience and burden to pipeline detection and dredging work, and impacting the efficiency of urban drainage pipeline maintenance. Summary of the Invention

[0003] The technical problem this invention aims to solve is to overcome the lack of intuitiveness and operator immersion in traditional robot control methods. A pipeline robot operating mechanism and a virtual reality and force feedback control method have been developed, enabling operators to intuitively and clearly perceive the status of the pipeline robot and its surrounding environment.

[0004] To achieve the above objectives, the technical solution adopted by the present invention is as follows:

[0005] A pipeline robot operating mechanism is characterized by comprising a mobile chassis, an operating mechanism, and a control system. The operating mechanism includes a lifting mechanism, a gimbal mechanism, and a dredging mechanism. The gimbal mechanism is mounted above the mobile chassis via the lifting mechanism, and the dredging mechanism is mounted in front of the mobile chassis. The control system includes a virtual reality unit and a force feedback hand controller. The virtual reality unit includes a sensor module, a controller module, a network cable, and a computer. The sensor module includes a lidar, an odometer, an inertial unit, and a current sensor. The sensor module and the controller module are respectively mounted in front of the mobile chassis. The controller module and the computer are connected via a network cable. The current sensor is connected to the dredging mechanism. The force feedback hand controller is connected to the computer via another network cable. The force feedback hand controller is connected to both the operating mechanism and the mobile chassis and controls their operation.

[0006] In the above structure: This invention proposes a pipeline robot operating mechanism for pipeline cleaning, detection, and maintenance. It includes a mobile chassis, an operating mechanism, and a control system. The operating mechanism includes a lifting mechanism, a gimbal mechanism, and a sludge removal mechanism. The gimbal mechanism is mounted above the mobile chassis via the lifting mechanism, and the sludge removal mechanism is mounted at the front of the mobile chassis. The pipeline robot moves and is secured to other devices via the mobile chassis. The operating mechanism, mounted on the mobile chassis, is used for the pipeline robot to perform operations inside the pipeline. The gimbal mechanism is used to capture real-time images of the pipeline interior and transmit them to a computer. The lifting mechanism is used to move the gimbal mechanism up and down, adjusting the shooting height and angle. The sludge removal mechanism, mounted at the front of the mobile chassis, is used to achieve… The pipeline cleaning and detection control system includes a virtual reality unit and a force feedback hand controller. The virtual reality unit includes a sensor module, a controller module, a network cable, and a computer. The sensor module includes a lidar, an odometer, an inertial unit, and a current sensor. By employing a data fusion method using lidar, odometer, and inertial unit, the lidar provides planar data of the pipeline profile, while the odometer and inertial unit provide data for the missing third dimension in the pipeline's 3D reconstruction. This results in complete 3D data of the pipeline, enabling virtual reality reconstruction of the pipeline and providing virtual reality visual feedback for the pipeline robot. This allows workers to observe the pipeline's interior via computer and easily control the pipeline robot for cleaning and detection.

[0007] The force feedback hand controller is used to control the mobile chassis and working mechanism. The force feedback hand controller includes three translational degrees of freedom, three rotational degrees of freedom, one switching degree of freedom, and a control box for control. The degrees of freedom of the force feedback hand controller are mapped to the motion control of the mobile chassis, the gimbal mechanism, the lifting mechanism, and the dredging mechanism of the pipeline robot. The force feedback information at the end of the force feedback hand controller comes from the current sensor installed on the dredging mechanism.

[0008] As a preferred technical solution of the present invention: the mobile chassis includes a four-wheel drive mobile chassis and wheels, and the wheels are mounted on the four-wheel drive mobile chassis.

[0009] In the above structure: the mobile chassis includes a four-wheel drive mobile chassis and wheels. The pipeline robot is controlled by four-wheel drive, which has good maneuverability and powerful power, making it convenient for pipeline cleaning and detection.

[0010] As a preferred technical solution of the present invention: the lifting mechanism includes a push rod motor, a base, a connector, a second connector, a support rod, a second support rod, a cover, a lifting platform, a push rod motor sealing ring cover, a crossbar, and a flange bearing. The push rod motor is mounted on the base, and the cover and the push rod motor sealing ring cover are mounted on top of it. One end of the support rod is fixed to the slide rail at the bottom of the lifting platform by a flange bearing and screws, and the other end is fixed to the connector by a flange bearing and screws. One end of the second support rod is fixed to the bottom of the lifting platform by a flange bearing and screws, and the other end is fixed to the slide rail of the connector by a flange bearing and screws. The push rod motor pushes the second connector, thereby pushing the first and second support rods. The first and second support rods form a scissor-like structure. When the second support rod is pushed, the lifting platform rises; when the second support rod is pulled, the lifting platform falls.

[0011] In the above structure: the lifting mechanism includes a push rod motor, base one, connector one, connector two, support rod one, support rod two, cover one, lifting platform, push rod motor sealing ring cover plate, crossbar one, and flange bearing. The push rod motor is mounted on base one and is waterproofed by cover one and push rod motor sealing ring cover plate. The lifting mechanism is used to realize the raising and lowering of the gimbal mechanism and angle adjustment, which facilitates the gimbal mechanism for shooting.

[0012] As a preferred technical solution of the present invention: the gimbal mechanism includes a gimbal housing, a camera waterproof housing, a camera, a side plate, a gimbal motor 1, a gimbal motor 2, gear 1, gear 2, gear 3, gear 4, gear 5, a bracket 1, a bracket 2, a support frame 1, a transmission rod 1, a transmission rod 2, a transmission rod 3, a bearing, a set screw, and a frame oil seal. The camera is installed in the camera waterproof housing. The gimbal motor 1 is fixed to the gimbal housing with screws. Gear 2 and transmission rod 3 are fixed with set screws. The connection between transmission rod 3 and the gimbal housing is sealed with a frame oil seal. One end of transmission rod 3 is fixed to support frame 1. Gear 2 is fixed relative to support frame 1. Gear 1, gear 2, gear 3, gear 4, gear 5, gear 5, gear 6, gear 7, gear 8, gear 9, gear 1, gear 10, gear 11, gear 12, gear 13, gear 14, gear 15, gear 16, gear 17, gear 18, gear 19 ... Gear 2, Gear 3, Gear 4, and Gear 5 are planetary gears. The rotation of the gimbal motor 1 drives Gear 1 to rotate around Gear 2, and also drives the gimbal housing to rotate around the support frame 1. The support frame 1 is fixed to the gimbal housing. The gimbal motor 2 is fixed to the bracket 1. The bracket 2 is fixed to the gimbal housing. Gear 4 is fixed to the bracket 2 via transmission rod 2 and bearing. Gear 5 is connected to the camera waterproof housing via transmission rod 1. The rotation of the gimbal motor 2 drives the rotation of Gear 3, the rotation of Gear 3 drives the rotation of Gear 4, the rotation of Gear 4 drives the rotation of Gear 5, thereby driving the rotation of the camera waterproof housing, and thus driving the rotation of the camera.

[0013] In the above structure: the gimbal mechanism is used to capture images inside the pipe in real time and transmit them to the computer. The gimbal mechanism includes a gimbal housing, a camera waterproof housing, a camera, a side plate, gimbal motor 1, gimbal motor 2, gear 1, gear 2, gear 3, gear 4, gear 5, bracket 1, bracket 2, support frame 1, transmission rod 1, transmission rod 2, transmission rod 3, bearings, set screws, and skeleton oil seals. The gimbal mechanism can rotate parallel to the ground, and the camera waterproof housing can rotate up and down around the gimbal mechanism.

[0014] As a preferred technical solution of the present invention: the dredging mechanism includes a dredging wheel, which is movably installed in front of the mobile chassis. The current sensor is connected to the dredging wheel to obtain the working current of the dredging wheel and provide data reference for the force feedback hand controller.

[0015] In the above structure: the dredging mechanism can move up and down to clean silt in different locations. The current sensor is used to obtain the working current of the dredging mechanism and provide data reference for the force feedback device.

[0016] As a preferred technical solution of the present invention: the force feedback hand controller includes a force feedback device, a translational mechanism end, and a rotational degree-of-freedom mechanism. One end of the translational mechanism end is connected to the force feedback device, and the rotational degree-of-freedom mechanism is installed on the other end of the translational mechanism end. The force feedback hand controller has three translational degrees of freedom, three rotational degrees of freedom, and one switching degree of freedom. The z-axis coordinate of the translational degree of freedom is used to control the travel speed of the moving chassis of the pipeline robot. The x-axis coordinate of the translational degree of freedom is used to control the rotation angle θ of the travel direction of the chassis of the pipeline robot. The y-axis coordinate of the translational degree of freedom is used to control the lifting height h1 of the lifting mechanism. The angle γ of the rotational degree of freedom axis 3 is used to control the lifting height h2 of the gimbal mechanism body. The angle α of the rotational degree of freedom axis 1 is used to control the rotation angle η of the camera module on the gimbal mechanism. The angle β of the rotational degree of freedom axis 2 is used to control the lifting height of the dredging mechanism. The mapping relationship is as follows:

[0017] v = k z (200-z)

[0018] θ=k x x

[0019] h1 = k y (125+y)

[0020] h2=k y γ

[0021] η = k α α

[0022] h3 = k β β

[0023] Where k x k y k z k α k β and k γ For the force feedback mapping coefficients of three translational degrees of freedom and three rotational degrees of freedom.

[0024] A virtual reality and force feedback control method for a pipeline robot operating mechanism, characterized by the following steps:

[0025] S1: Pipeline 3D Environment Reconstruction

[0026] The laser radar scans the pipeline profile to obtain point cloud data, and the pipeline radius is calculated by fitting coordinate points. The odometer and inertial unit data are fused to realize the positioning of the pipeline robot, supplementing the third dimension information required for three-dimensional reconstruction. The laser radar point cloud data is fused with the odometer and inertial unit data to realize the reconstruction of the pipeline three-dimensional environment in virtual reality.

[0027] S2: Cleaning is controlled using a force feedback control system.

[0028] S21: Starting force feedback control system;

[0029] S22: Read data from the current sensor;

[0030] S23: Map the data from the current sensor to the force feedback device;

[0031] S24: Read the coordinates of the three translational degrees of freedom and the angle values ​​of the three rotational degrees of freedom of the force feedback hand controller;

[0032] S25: Send the control quantity mapped from the seven-degree-of-freedom force feedback hand controller to the mobile chassis and working mechanism of the pipeline robot and control them;

[0033] S26: Do you want to end? If you choose "No", return to S2. If you choose "Yes", end and shut down the system.

[0034] As a preferred technical solution of the present invention: In step S1: the lidar is a single-line lidar, which acquires point cloud data of the pipeline profile plane during the ring scan process for the reconstruction of the three-dimensional environment of the pipeline in virtual reality.

[0035] As a preferred technical solution of the present invention: In step S1: the odometer uses an encoder. By counting its pulses, the number of revolutions of the pipeline robot's wheel is obtained. Given the wheel radius, the distance traveled by the pipeline robot can be calculated, providing distance information for the third dimension of the pipeline's three-dimensional reconstruction. Assuming the number of pulses read by the encoder is n, the number of encoder pulses for one revolution of the wheel is k, and the wheel radius is r, then the distance s traveled by the pipeline robot is...

[0036] s = 2πnr / k.

[0037] As a preferred technical solution of the present invention: In step S1: the inertial unit is used to provide the directional information of the third dimension of the pipeline three-dimensional reconstruction. By fusing with the odometer data, the complete information of the third direction of the pipeline three-dimensional reconstruction can be obtained. Then, by fusing with the pipeline profile information obtained by the laser radar ring scan, the three-dimensional environment of the pipeline can be reconstructed.

[0038] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0039] The virtual reality and force feedback control method for a pipeline robot working mechanism of the present invention has the following advantages:

[0040] (1) It can realize virtual reality visual feedback and force feedback control of pipeline robots, so that operators can be immersed in the environment, perceive the environment in which the pipeline robot is located in real time, and operate the pipeline robot more accurately.

[0041] (2) It can realize real-time three-dimensional reconstruction of the pipeline environment, draw a three-dimensional model of the detected pipeline and mark the location of pipeline defects, thus bringing great convenience to subsequent pipeline operation and maintenance.

[0042] (3) This method gives the pipeline robot strong versatility, enabling it to adapt to various complex and harsh pipeline environments.

[0043] (4) It can remotely control complex pipeline robot mechanisms, which improves the safety of robot operation. Attached Figure Description

[0044] Figure 1 This is a block diagram of the virtual reality visual feedback and force feedback control system for the pipeline robot according to an embodiment of the present invention.

[0045] Figure 2 This is a schematic diagram of the force feedback hand controller according to an embodiment of the present invention.

[0046] Figure 3 This is a schematic diagram of a pipeline robot according to an embodiment of the present invention.

[0047] Figure 4 This is a schematic diagram of the interior of the pipeline robot according to an embodiment of the present invention.

[0048] Figure 5 This is a schematic diagram of the lifting mechanism according to an embodiment of the present invention.

[0049] Figure 6 This is a schematic diagram of the push rod motor according to an embodiment of the present invention.

[0050] Figure 7 This is a schematic diagram of the internal structure of the gimbal mechanism according to an embodiment of the present invention.

[0051] Figure 8 This is a schematic diagram of the gimbal mechanism according to an embodiment of the present invention.

[0052] Figure 9 This is a flowchart illustrating the virtual reality visual feedback process of the pipeline robot according to an embodiment of the present invention.

[0053] Figure 10 This is a flowchart of the force feedback control process for the pipeline robot according to an embodiment of the present invention.

[0054] List of reference numerals in the attached diagram:

[0055] 1. Mobile chassis; 2. Working mechanism; 2-1. Lifting mechanism; 2-1-1. Push rod motor; 2-1-2. Base 1; 2-1-3. Connector 1; 2-1-4. Connector 2; 2-1-5. Support rod 1; 2-1-6. Support rod 2; 2-1-7. Cover 1; 2-1-8. Lifting platform; 2-1-9. Push rod motor sealing ring cover plate; 2-1-10. Crossbar 1; 2-1-11. Flange bearing; 2-2. Gimbal mechanism; 2-2-1. Gimbal housing; 2-2-2. Camera waterproof housing; 2-2-3. Camera; 2-2-4. Side plate; 2-2-5. Gimbal motor 1; 2-2-6. Gimbal motor 2; 2-2-7. Gear 1; 2-2-8. Gear 2; 2-2-9. Gear 3; 2-2-10. Gear 4 ; 2-2-11, Gear 5; 2-2-12, Support 1; 2-2-13, Support 2; 2-2-14, Support Frame 1; 2-2-15, Transmission Rod 1; 2-2-16, Transmission Rod 2; 2-2-17, Transmission Rod 3; 2-2-18, Bearing; 2-3, Dredging Mechanism; 3, Control System; 3-1, Virtual Reality Unit; 3-1-1, Sensor Module; 3-1-1-1, LiDAR; 3-1-1-2, Odometer; 3-1-1-3, Inertial Unit; 3-1-1-4, Current Sensor; 3-1-2, Controller Module; 3-1-3, Network Cable; 3-1-4, Computer; 3-2, Force Feedback Hand Controller; 3-2-1, Force Feedback Device; 3-2-2, End of Translational Mechanism; 3-2-3, Rotational Degree of Freedom Mechanism. Detailed Implementation

[0056] The present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments:

[0057] like Figure 1As shown: This invention proposes a pipeline robot operating mechanism, including a mobile chassis 1, an operating mechanism 2, and a control system 3. The operating mechanism 2 includes a lifting mechanism 2-1, a gimbal mechanism 2-2, and a dredging mechanism 2-3. The gimbal mechanism 2-2 is mounted above the mobile chassis 1 via the lifting mechanism 2-1, and the dredging mechanism 2-3 is mounted in front of the mobile chassis 1. The control system 3 includes a virtual reality unit 3-1 and a force feedback hand controller 3-2. The virtual reality unit 3-1 includes a sensor module 3-1-1, a controller module 3-1-2, a network cable 3-1-3, and a computer 3-1-4. The sensor module 3-1... -1-1 includes a lidar 3-1-1-1, an odometer 3-1-1-2, an inertial unit 3-1-1-3, and a current sensor 3-1-1-4. The sensor module 3-1-1 and the controller module 3-1-2 are respectively installed in front of the mobile chassis 1. The controller module 3-1-2 and the computer 3-1-4 are connected via a network cable 3-1-3. The current sensor 3-1-1-4 is connected to the dredging mechanism 2-3. The force feedback hand controller 3-2 is connected to the computer 3-1-4 via another network cable 3-1-3. The force feedback hand controller 3-2 is connected to the working mechanism 2 and the mobile chassis 1 respectively and controls their operation.

[0058] This invention proposes a pipeline robot operating mechanism for pipeline cleaning, detection, and maintenance. It includes a mobile chassis 1, an operating mechanism 2, and a control system 3. The operating mechanism 2 includes a lifting mechanism 2-1, a gimbal mechanism 2-2, and a sludge removal mechanism 2-3. The gimbal mechanism 2-2 is mounted above the mobile chassis 1 via the lifting mechanism 2-1, and the sludge removal mechanism 2-3 is mounted in front of the mobile chassis 1. The pipeline robot moves and is secured to other devices via the mobile chassis 1. The operating mechanism 2, mounted on the mobile chassis 1, is used for the pipeline robot to perform operations within the pipeline. The gimbal mechanism 2-2 is used to capture real-time images of the pipeline interior and transmit them to a computer 3-1-4. The lifting mechanism 2-1 is used to move the gimbal mechanism 2-2 up and down, adjusting the shooting height and angle. The sludge removal mechanism 2-3, mounted in front of the mobile chassis 1, is used for cleaning and detection within the pipeline. The control system 3 includes a virtual reality unit 3-1 and a force feedback hand controller 3-1. 2. The virtual reality unit 3-1 includes a sensor module 3-1-1, a controller module 3-1-2, a network cable 3-1-3, and a computer 3-1-4. The sensor module 3-1-1 includes a lidar 3-1-1-1, an odometer 3-1-1-2, an inertial unit 3-1-1-3, and a current sensor 3-1-1-4. By employing a data fusion method using lidar 3-1-1-1, odometer 3-1-1-2, and inertial unit 3-1-1-3, the lidar 3-1-1-1 provides planar data of the pipeline profile, while the odometer 3-1-1-2 and inertial unit 3-1-1-3 provide data for the missing third dimension in the pipeline's 3D reconstruction. This allows for the acquisition of complete 3D data of the pipeline, enabling virtual reality reconstruction of the pipeline and providing virtual reality visual feedback for the pipeline robot. This facilitates workers' observation of the pipeline's interior via computer 3-1-4 and allows for convenient control of the pipeline robot for cleaning and detection.

[0059] The force feedback hand controller 3-2 is used to control the mobile chassis 1 and the working mechanism 2. The force feedback hand controller 3-2 includes three translational degrees of freedom, three rotational degrees of freedom, one switching degree of freedom, and a control box for control. The degrees of freedom of the force feedback hand controller 3-2 are mapped to the motion control of the mobile chassis 1 of the pipeline robot, the control of the gimbal mechanism 2-2, the motion control of the lifting mechanism 2-1, and the motion control of the dredging mechanism 2-3. The force feedback information at the end of the force feedback hand controller 3-2 comes from the current sensor 3-1-1-4 installed on the dredging mechanism 2-3.

[0060] like Figure 3 and Figure 4 As shown: The mobile chassis 1 includes a four-wheel drive mobile chassis and wheels, with the wheels mounted on the four-wheel drive mobile chassis. The mobile chassis 1 includes a four-wheel drive mobile chassis and wheels; the pipeline robot is four-wheel drive controlled, possessing excellent maneuverability and powerful performance, facilitating pipeline cleaning and detection.

[0061] like Figure 5 and Figure 6 As shown: The lifting mechanism 2-1 includes a push rod motor 2-1-1, a base 2-1-2, a connector 2-1-3, a connector 2-1-4, a support rod 2-1-5, a support rod 2-1-6, a cover 2-1-7, a lifting platform 2-1-8, a push rod motor sealing ring cover 2-1-9, a crossbar 2-1-10, and a flange bearing 2-1-11. The push rod motor 2-1-1 is mounted on the base 2-1-2, and the cover 2-1-7 and the push rod motor sealing ring cover 2-1-9 are mounted on top of it. One end of the support rod 2-1-5 is fixed to the slide rail at the bottom of the lifting platform 2-1-8 by the flange bearing 2-1-11 and screws, and the other end is fixed to the flange bearing 2-1-11 by screws. Bearing 2-1-11 and screws are fixed to connector 2-1-3. One end of support rod 2-1-6 is fixed to the bottom of lifting platform 2-1-8 by flange bearing 2-1-11 and screws, and the other end is fixed to the slide rail of connector 2-1-3 by flange bearing 2-1-11 and screws. Push rod motor 2-1-1 pushes connector 2-1-4, thereby pushing support rod 2-1-5 and support rod 2-1-6. Support rod 2-1-5 and support rod 2-1-6 form a scissor-like structure. When support rod 2-1-6 is pushed, lifting platform 2-1-8 will rise. When support rod 2-1-6 is pulled, lifting platform 2-1-8 will fall.

[0062] The lifting mechanism 2-1 includes a push rod motor 2-1-1, a base 2-1-2, a connector 2-1-3, a connector 2-1-4, a support rod 2-1-5, a support rod 2-1-6, a cover 2-1-7, a lifting platform 2-1-8, a push rod motor sealing ring cover 2-1-9, a crossbar 2-1-10, and a flange bearing 2-1-11. The push rod motor 2-1-1 is mounted on the base 2-1-2 and is waterproofed by the cover 2-1-7 and the push rod motor sealing ring cover 2-1-9. The lifting mechanism 2-1 is used to raise and lower the gimbal mechanism 2-2 and adjust its angle, facilitating shooting with the gimbal mechanism 2-2.

[0063] like Figure 7 and Figure 8As shown: The gimbal mechanism 2-2 includes a gimbal housing 2-2-1, a camera waterproof housing 2-2-2, a camera 2-2-3, a side plate 2-2-4, a gimbal motor 1 2-2-5, a gimbal motor 2-2-6, a gear 1 2-2-7, a gear 2 2-2-8, a gear 3 2-2-9, a gear 4 2-2-10, a gear 5 2-2-11, a bracket 1 2-2-12, a bracket 2 2-2-13, a support frame 1 2-2-14, a transmission rod 1 2-2-15, a transmission rod 2 2-2-16, a transmission rod 3 2-2-17, and a bearing 2-2-18. The camera 2-2-3 is installed in the camera waterproof housing 2-2-2. The gimbal motor 2-2-5 is fixed to the gimbal housing 2-2-1 with screws. The gear 2-2-8 and the transmission rod 2-2-17 are fixed with set screws. The connection between the transmission rod 2-2-17 and the gimbal housing 2-2-1 is sealed with a frame oil seal. One end of the transmission rod 2-2-17 is fixed to the support frame 2-2-14. The gear 2-2-8 is fixed relative to the support frame 2-2-14. The gear 2-2-7 and gear 2... Gears 2-2-8, 2-2-9, 2-2-10, and 2-2-11 are planetary gears. The rotation of the gimbal motor 2-2-5 drives gear 2-2-7 to rotate around gear 2-2-8, and also drives the gimbal housing 2-2-1 to rotate around support frame 2-2-14. Support frame 2-2-14 is fixed to the gimbal housing 2-2-1. Gear motor 2-2-6 is fixed to bracket 2-2-12. Bracket 2-2-13 is fixed to the gimbal housing 2-2-1. Gear 2-2-10... The gear is fixed to the bracket 2-2-13 via transmission rod 2-2-16 and bearing 2-2-18. Gear 5 2-2-11 is connected to the camera waterproof housing 2-2-2 via transmission rod 1 2-2-15. The rotation of gimbal motor 2-2-6 drives the rotation of gear 3 2-2-9, which in turn drives the rotation of gear 4 2-2-10. The rotation of gear 4 2-2-10 drives the rotation of gear 5 2-2-11, thereby driving the rotation of camera waterproof housing 2-2-2, which in turn drives the rotation of camera 2-2-3.

[0064] The gimbal mechanism 2-2 is used to capture images inside the pipe in real time and transmit them to the computer 3-1-4. The gimbal mechanism 2-2 includes a gimbal housing 2-2-1, a waterproof camera housing 2-2-2, a camera 2-2-3, a side plate 2-2-4, a gimbal motor 1 2-2-5, a gimbal motor 2 2-2-6, a gear 1 2-2-7, a gear 2 2-2-8, a gear 3 2-2-9, a gear 4 2-2-10, a gear 5 2-2-11, a bracket 1 2-2-12, a bracket 2 2-2-13, a support frame 1 2-2-14, a transmission rod 1 2-2-15, a transmission rod 2 2-2-16, a transmission rod 3 2-2-17, a bearing 2-2-18, a set screw, and a skeleton oil seal. The gimbal mechanism 2-2 can rotate parallel to the ground, and the waterproof camera housing 2-2-2 can rotate up and down around the gimbal mechanism 2-2.

[0065] The dredging mechanism 2-3 includes a dredging wheel, which is movably mounted in front of the mobile chassis 1. A current sensor 3-1-1-4 is connected to the dredging wheel and is used to acquire the operating current of the dredging wheel, providing data reference for the force feedback controller 3-2. The dredging mechanism 2-3 can move up and down to clean silt from different locations. The current sensor 3-1-1-4 is used to acquire the operating current of the dredging mechanism 2-3, providing data reference for the force feedback device 3-2-1.

[0066] like Figure 2 As shown: The force feedback hand controller 3-2 includes a force feedback device 3-2-1, a translational mechanism end 3-2-2, and a rotational degree-of-freedom mechanism 3-2-3. One end of the translational mechanism end 3-2-2 is connected to the force feedback device 3-2-1, and the rotational degree-of-freedom mechanism 3-2-3 is mounted on the other end of the translational mechanism end 3-2-2. The force feedback hand controller 3-2 has three translational degrees of freedom, three rotational degrees of freedom, and one switching degree of freedom. The z-axis coordinate of the translational degree of freedom is used to control the movement of the mobile chassis 1 of the pipeline robot. The x-axis coordinate of the translational degree of freedom is used to control the rotation angle θ of the chassis of the pipeline robot in the direction of travel; the y-axis coordinate of the translational degree of freedom is used to control the lifting height h1 of the lifting mechanism 2-1; the angle γ of the rotational degree of freedom axis 3 is used to control the lifting height h2 of the gimbal mechanism 2-2; the angle α of the rotational degree of freedom axis 1 is used to control the rotation angle η of the camera module on the gimbal mechanism 2-2; and the angle β of the rotational degree of freedom axis 2 is used to control the lifting height of the dredging mechanism 2-3. The mapping relationship is as follows:

[0067] v = k z (200-z)

[0068] θ=k x x

[0069] h1 = k y(125+y)

[0070] h2=k γ γ

[0071] η = k α α

[0072] h3 = k β β

[0073] Where kx, ky, kz, kα, kβ, and kγ are the force feedback mapping coefficients for the three translational degrees of freedom and the three rotational degrees of freedom.

[0074] A virtual reality and force feedback control method for a pipeline robot operating mechanism includes the following steps:

[0075] S1: Pipeline 3D Environment Reconstruction

[0076] like Figure 9 As shown: The point cloud data of the pipeline is obtained by scanning the pipeline profile with the LiDAR 3-1-1-1, and the radius of the pipeline is calculated by fitting the coordinate points. The positioning of the pipeline robot is achieved by fusing the data of the odometer 3-1-1-2 and the inertial unit 3-1-1-3, which supplements the information of the third dimension required for three-dimensional reconstruction. The point cloud data of the LiDAR 3-1-1-1 is fused with the data of the odometer 3-1-1-2 and the inertial unit 3-1-1-3 to reconstruct the three-dimensional environment of the pipeline in virtual reality.

[0077] S2: Cleaning is controlled using a force feedback control system.

[0078] like Figure 10 As shown: S21: Starting force feedback control system 3;

[0079] S22: Read the data from current sensor 3-1-1-4;

[0080] S23: Map the data from the current sensor 3-1-1-4 onto the force feedback device 3-2-1;

[0081] S24: Read the coordinates of the three translational degrees of freedom and the angle values ​​of the three rotational degrees of freedom of the force feedback hand controller 3-2;

[0082] S25: Send the control quantity mapped by the seven-degree-of-freedom force feedback hand controller 3-2 to the mobile chassis 1 and working mechanism 2 of the pipeline robot and control them;

[0083] S26: Do you want to end? If you choose "No", return to S2. If you choose "Yes", end and shut down the system.

[0084] In step S1: The lidar 3-1-1-1 is a single-line lidar, which acquires point cloud data of the pipeline profile plane during the ring scan process for the reconstruction of the three-dimensional environment of the pipeline in virtual reality.

[0085] In step S1: The odometer 3-1-1-2 uses an encoder. By counting its pulses, the number of revolutions of the pipeline robot's wheels is obtained. Given the wheel radius, the distance traveled by the pipeline robot can be calculated, providing distance information for the third dimension of the pipeline's 3D reconstruction. Assuming the encoder reads n pulses, the encoder pulse count for one wheel revolution is k pulses, and the wheel radius is r, then the distance s traveled by the pipeline robot is...

[0086] s = 2πnr / k.

[0087] In step S1: The inertial unit 3-1-1-3 is used to provide the directional information of the third dimension of the pipeline 3D reconstruction. By fusing with the data of the odometer 3-1-1-2, the complete information of the third direction of the pipeline 3D reconstruction can be obtained. Then, by fusing with the pipeline profile information scanned by the lidar 3-1-1-1, the 3D environment of the pipeline can be reconstructed.

[0088] (1) The present invention can realize virtual reality visual feedback and force feedback control of pipeline robot, so that the operator can be immersed in the environment, can clearly perceive the environment in which the pipeline robot is located in real time, and can operate the pipeline robot more accurately.

[0089] (2) The present invention can realize real-time three-dimensional reconstruction of pipeline environment, draw three-dimensional model of detected pipeline and mark the location of pipeline defects, thereby bringing great convenience to subsequent pipeline operation and maintenance.

[0090] (3) This invention gives the pipeline robot strong versatility, enabling it to adapt to various complex and harsh pipeline environments.

[0091] (4) The present invention can realize remote control of complex pipeline robot mechanisms, thereby improving the safety of robot operation.

[0092] The above description is merely a preferred embodiment of the present invention and is not intended to limit the present invention in any other way. Any modifications or equivalent changes made based on the technical essence of the present invention shall still fall within the scope of protection claimed by the present invention.

Claims

1. A pipeline robot operating mechanism, characterized in that: The system includes a mobile chassis (1), a working mechanism (2), and a force feedback control system (3). The working mechanism (2) includes a lifting mechanism (2-1), a gimbal mechanism (2-2), and a dredging mechanism (2-3). The gimbal mechanism (2-2) is mounted above the mobile chassis (1) via the lifting mechanism (2-1), and the dredging mechanism (2-3) is mounted in front of the mobile chassis (1). The force feedback control system (3) includes a virtual reality unit (3-1) and a force feedback hand controller (3-2). The virtual reality unit (3-1) includes a sensor module (3-1-1), a controller module (3-1-2), a network cable, and a computer (3-1-4). -1) Includes a lidar (3-1-1-1), an odometer (3-1-1-2), an inertial unit (3-1-1-3), and a current sensor (3-1-1-4). The sensor module (3-1-1) and the controller module (3-1-2) are respectively installed in front of the mobile chassis (1). The controller module (3-1-2) and the computer (3-1-4) are connected via a network cable. The current sensor (3-1-1-4) is connected to the dredging mechanism (2-3). The force feedback hand controller (3-2) is connected to the computer (3-1-4) via another network cable. The force feedback hand controller (3-2) is connected to the working mechanism (2) and the mobile chassis (1) respectively and controls their operation. The force feedback hand controller (3-2) includes a force feedback device (3-2-1), a translational mechanism end (3-2-2), and a rotational degree-of-freedom mechanism (3-2-3). One end of the translational mechanism end (3-2-2) is connected to the force feedback device (3-2-1), and the rotational degree-of-freedom mechanism (3-2-3) is mounted on the other end of the translational mechanism end (3-2-2). The force feedback hand controller (3-2) has three translational degrees of freedom, three rotational degrees of freedom, and one switching degree of freedom. The z-axis coordinate of the translational degree of freedom is used to control the moving chassis of the pipeline robot. (1) The travel speed of the movement, the x-axis coordinate of the translational degree of freedom is used to control the rotation angle θ of the travel direction of the chassis of the pipeline robot, the y-axis coordinate of the translational degree of freedom is used to control the lifting height h1 of the lifting mechanism (2-1), the angle γ of the axis 3 of the rotational degree of freedom is used to control the lifting height h2 of the gimbal mechanism (2-2), the angle α of the axis 1 of the rotational degree of freedom is used to control the rotation angle η of the camera module on the gimbal mechanism (2-2), and the angle β of the axis 2 of the rotational degree of freedom is used to control the lifting height of the dredging mechanism (2-3). The mapping relationship is as follows: ； ； ； ； ； ； Where kx, ky, kz, kα, kβ, and kγ are the force feedback mapping coefficients for the three translational degrees of freedom and the three rotational degrees of freedom.

2. The pipeline robot working mechanism according to claim 1, characterized in that: The mobile chassis (1) includes a four-wheel drive mobile chassis and wheels, the wheels being mounted on the four-wheel drive mobile chassis.

3. The pipeline robot working mechanism according to claim 1, characterized in that: The lifting mechanism (2-1) includes a push rod motor (2-1-1), a base (2-1-2), a connector (2-1-3), a connector (2-1-4), a support rod (2-1-5), a support rod (2-1-6), a cover (2-1-7), a lifting platform (2-1-8), a push rod motor sealing ring cover (2-1-9), a crossbar (2-1-10), and a flange bearing (2-1-11). The push rod motor (2-1-1) is mounted on the base (2-1-2), and the cover (2-1-7) and the push rod motor sealing ring cover (2-1-9) are mounted on top of it. One end of the support rod (2-1-5) is fixed to the slide rail at the bottom of the lifting platform (2-1-8) by the flange bearing (2-1-11) and screws, and the other end is fixed to the slide rail at the bottom of the lifting platform (2-1-8) by the flange bearing (2-1-11). The flange bearing (2-1-11) and screws are fixed to the connector one (2-1-3). One end of the support rod two (2-1-6) is fixed to the bottom of the lifting platform (2-1-8) through the flange bearing (2-1-11) and screws, and the other end is fixed to the slide rail of the connector one (2-1-3) through the flange bearing (2-1-11) and screws. The push rod motor (2-1-1) pushes the connector two (2-1-4), thereby pushing the support rod one (2-1-5) and the support rod two (2-1-6). The support rod one (2-1-5) and the support rod two (2-1-6) form a scissor-like structure. When the support rod two (2-1-6) is pushed, the lifting platform (2-1-8) will rise. When the support rod two (2-1-6) is pulled, the lifting platform (2-1-8) will fall.

4. The pipeline robot working mechanism according to claim 1, characterized in that: The gimbal mechanism (2-2) includes a gimbal housing (2-2-1), a camera waterproof housing (2-2-2), a camera (2-2-3), a side plate (2-2-4), gimbal motor one (2-2-5), gimbal motor two (2-2-6), gear one (2-2-7), gear two (2-2-8), gear three (2-2-9), gear four (2-2-10), gear five (2-2-11), bracket one (2-2-12), bracket two (2-2-13), support frame one (2-2-14), transmission rod one (2-2-15), transmission rod two (2-2-16), transmission rod three (2-2-17), and bearing (2- 2-18), set screws and frame oil seals, the camera (2-2-3) is installed in the camera waterproof housing (2-2-2), the gimbal motor one (2-2-5) is fixed to the gimbal housing (2-2-1) by screws, the gear two (2-2-8) and the transmission rod three (2-2-17) are fixed by set screws, the connection between the transmission rod three (2-2-17) and the gimbal housing (2-2-1) is sealed with a frame oil seal, one end of the transmission rod three (2-2-17) is fixed to the support frame one (2-2-14), the gear two (2-2-8) is fixed relative to the support frame one (2-2-14), the gear one (2-2-7), gear Gears 2 (2-2-8), 3 (2-2-9), 4 (2-2-10), and 5 (2-2-11) are planetary gears. The rotation of the gimbal motor 1 (2-2-5) drives gear 1 (2-2-7) to rotate around gear 2 (2-2-8), which in turn drives the gimbal housing (2-2-1) to rotate around support frame 1 (2-2-14). Support frame 1 (2-2-14) is fixed to the gimbal housing (2-2-1). Gear 2 (2-2-6) is fixed to bracket 1 (2-2-12). Bracket 2 (2-2-13) is fixed to the gimbal housing (2-2-1). Gear 4 (2-2-8) and gear 5 (2-2-11) are planetary gears. 10) The gear is fixed on the bracket (2-2-13) by the transmission rod (2-2-16) and the bearing (2-2-18). The gear (2-2-11) is connected to the camera waterproof shell (2-2-2) by the transmission rod (2-2-15). The rotation of the gimbal motor (2-2-6) drives the rotation of the gear (2-2-9). The rotation of the gear (2-2-9) drives the rotation of the gear (4) (2-2-10). The rotation of the gear (4) drives the rotation of the gear (5) (2-2-11), thereby driving the rotation of the camera waterproof shell (2-2-2), and thus driving the rotation of the camera (2-2-3).

5. The pipeline robot working mechanism according to claim 1, characterized in that: The dredging mechanism (2-3) includes a dredging wheel, which is movably mounted in front of the mobile chassis (1). The current sensor (3-1-1-4) is connected to the dredging wheel and is used to obtain the working current of the dredging wheel to provide data reference for the force feedback hand controller (3-2).

6. A virtual reality and force feedback control method for a pipeline robot operating mechanism according to any one of claims 1-5, characterized in that: Includes the following steps: S1: Pipeline 3D Environment Reconstruction The laser radar (3-1-1-1) scans the pipeline profile to obtain point cloud data, and the radius of the pipeline is calculated by fitting coordinate points. The odometer (3-1-1-2) and the inertial unit (3-1-1-3) fuse data to realize the positioning of the pipeline robot and supplement the third dimension information required for three-dimensional reconstruction. The point cloud data of the laser radar (3-1-1-1) is fused with the data of the odometer (3-1-1-2) and the inertial unit (3-1-1-3) to realize the reconstruction of the three-dimensional environment of the pipeline in virtual reality. S2: Cleaning is controlled using a force feedback control system. S21: Starting force feedback control system (3); S22: Read the data from the current sensor (3-1-1-4); S23: Map the data from the current sensor (3-1-1-4) onto the force feedback device (3-2-1); S24: Read the coordinates of the three translational degrees of freedom and the angle values ​​of the three rotational degrees of freedom of the force feedback hand controller (3-2); S25: Send the control quantity mapped by the seven-degree-of-freedom force feedback hand controller (3-2) to the mobile chassis (1) and working mechanism (2) of the pipeline robot and control them; S26: Do you want to end? If you choose "No", return to S2. If you choose "Yes", end and shut down the system.

7. The virtual reality and force feedback control method for a pipeline robot working mechanism according to claim 6, characterized in that: In step S1: The lidar (3-1-1-1) is a single-line lidar, which acquires point cloud data of the pipeline profile plane during the ring scan process for the reconstruction of the three-dimensional environment of the pipeline in virtual reality.

8. The virtual reality and force feedback control method for a pipeline robot working mechanism according to claim 6, characterized in that: In step S1: The odometer (3-1-1-2) uses an encoder. By counting its pulses, the number of revolutions of the pipeline robot's wheels is obtained. Given the wheel radius, the distance traveled by the pipeline robot can be calculated, providing distance information for the third dimension of the pipeline's 3D reconstruction. Assuming the encoder reads n pulses, the encoder pulse count for one wheel revolution is k, and the wheel radius is r, then the distance s traveled by the pipeline robot is... 。 9. The virtual reality and force feedback control method for a pipeline robot working mechanism according to claim 6, characterized in that: In step S1: The inertial unit (3-1-1-3) is used to provide the directional information of the third dimension of the pipeline 3D reconstruction. By fusing with the data from the odometer (3-1-1-2), the complete information of the third direction of the pipeline 3D reconstruction can be obtained. Then, by fusing with the pipeline profile information scanned by the lidar (3-1-1-1), the 3D environment of the pipeline can be reconstructed.

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