Method, device and detection system for determining turning driving parameters of pipeline robot

Abstract

The present invention discloses a method, device and detection system for determining turning driving parameters of a pipeline robot, and belongs to the field of robot control technology. The detection method divides the pipe bends of the pipeline into three situations, including a horizontal first bend, a horizontal second bend and a vertical bend, according to the direction of the robot when turning, and the relationship between the turning radius of the turning pipeline and the width of the robot; according to the different shape and size change rules of the bends, the robot driving speed and path are preset in advance, and when the robot runs in the pipeline, it can stably make horizontal or vertical turns and implement the detection process; the detection system based on the turning driving parameter determination method includes a main control box, a robot and a handheld remote control, and the robot drives according to the set running speed and path according to the turning driving parameters set in advance, and implements the detection, which has the characteristics of simple system structure, stable and efficient operation.

Description

Technical Field

[0001] The present invention belongs to the technical field of robot control, and in particular relates to a method, a device and a detection system for determining turning driving parameters of a pipeline robot. Background Art

[0002] In the industrial field, there are many carbon steel pipes for medium transportation, and the welds inside the pipes often have various defects due to corrosion, wear, cracking, etc. For pipes with large curvature and small diameter, or defects deep inside the pipes, workers usually cannot directly observe the defects inside the pipes with the naked eye. Even if portable tools are used for image and other weld surface inspections, it is difficult to obtain comprehensive information about the welds inside the pipes.

[0003] Using pipeline robots with detection tools to enter the interior of pipelines for detection has become the mainstream of current pipeline weld detection. Among the commonly used pipeline robots, there are two types: thrust adsorption pipeline robots and permanent magnet adsorption pipeline robots. The thrust adsorption pipeline robot uses pneumatic or hydraulic devices as a thrust adsorption system to generate positive or negative pressure to adsorb on the surface of the pipeline, but its thrust adsorption system is limited by factors such as pipeline materials and pipeline wall conditions, making the movement of the thrust adsorption pipeline robot not flexible enough and prone to stuck. The permanent magnet adsorption pipeline robot has the advantages of flexible walking, simple adsorption method, and non-destructiveness. However, the structure of the permanent magnet adsorption pipeline robot is different, and there are certain applicability requirements for the surface of the adsorption material. If the structure of the adsorbed surface changes greatly, such as large changes in curvature or radius, it is necessary to calculate and test the adsorption force before it can be applied to engineering detection. Especially for pipelines with large curvature, it is difficult for the permanent magnet adsorption pipeline robot to plan the driving parameters. Summary of the invention

[0004] The purpose of the present invention is to overcome the shortcomings of the above-mentioned prior art and to provide a method, device and detection system for determining the turning driving parameters of a pipeline robot, so as to solve the problem in the prior art that when there are many bends in the detected pipeline and some of the bends have a large curvature, the permanent magnetic adsorption pipeline robot is difficult to use.

[0005] In order to achieve the above object, the present invention adopts the following technical solutions:

[0006] A first aspect of the present invention discloses a method for determining turning driving parameters of a pipeline robot, comprising the following steps:

[0007] S1, collecting and obtaining the turning radius of the robot on each curved pipe, wherein the turning radius is a line connecting the center of mass of the robot and the center of the curved pipe arc of the curved pipe;

[0008] S2, based on the turning radius and the width of the robot, determining the type of the bend, the types of the bends including a horizontal first bend, a horizontal second bend and a vertical bend; the turning radius of the horizontal first bend is greater than half of the width of the robot, the turning radius of the horizontal second bend is less than half of the width of the robot, and a portion of the bend arc of the vertical bend is in a vertical direction;

[0009] S3, determining the turning speed of the robot at the corresponding bend based on the bend type, the turning radius and the angular velocity of the robot's center of mass, wherein the turning speed includes the linear velocity of the magnetic wheel on the turning side and the linear velocity away from the magnetic wheel on the turning side;

[0010] When the robot is traveling in the horizontal first bend or the horizontal second bend, the linear speed of the magnetic wheel away from the turning side and the magnetic wheel on the turning side is determined by the turning radius and the width of the robot; when the robot is traveling in the vertical bend, the linear speed of the magnetic wheel away from the turning side and the magnetic wheel on the turning side is equal.

[0011] Preferably, in S3, when the robot is traveling in the horizontal first curved pipe, the magnetic wheel on the turning side and the magnetic wheel on the side away from the turning side have the same rotation direction, and the linear velocity of the magnetic wheel on the side away from the turning side is greater than the linear velocity of the magnetic wheel on the turning side;

[0012] When the robot moves on the second horizontal curved pipe, the magnetic wheel on the turning side and the magnetic wheel on the side away from the turning side rotate in opposite directions, the magnetic wheel on the turning side moves backward, and the magnetic wheel on the side away from the turning side moves forward;

[0013] When the robot moves in a vertical curved pipe, the magnetic wheel on the turning side and the magnetic wheel on the side away from the turning side rotate in the same direction and at the same linear speed.

[0014] Preferably, in S3, when the robot is traveling in the horizontal first curved pipe, the linear velocity ratio of the magnetic wheel away from the turning side and the magnetic wheel on the turning side is:

[0015]

[0016] in, is the linear speed of the magnetic wheel on the turning side, is the linear velocity of the magnetic wheel away from the turning side, C is the turning radius, is the robot width.

[0017] Preferably, in S3, when the robot is traveling in the horizontal second curved pipe, the linear velocity ratio of the magnetic wheel away from the turning side and the magnetic wheel on the turning side is:

[0018]

[0019] in, is the linear speed of the magnetic wheel on the turning side, is the linear velocity of the magnetic wheel away from the turning side, C is the turning radius, is the robot width.

[0020] Preferably, in S2, when the robot is traveling in a vertical curved pipe, the linear speed of the magnetic wheel on the turning side and the magnetic wheel away from the turning side is:

[0021] =

[0022] in, is the linear velocity of the robot’s center of mass, is the linear speed of the magnetic wheel on the turning side, is the linear velocity of the magnetic wheel away from the turning side, is the angular velocity of the robot’s center of mass, is the time difference from the start to a certain moment.

[0023] The second aspect of the present invention discloses a device for determining turning driving parameters of a pipeline robot for implementing the above method, comprising:

[0024] A collection module, used to obtain the turning radius of the robot on each curved pipe, wherein the turning radius is a line connecting the center of mass of the robot and the center of the curved pipe arc of the curved pipe;

[0025] A type determination module is used to determine the type of the bend based on the turning radius and the width of the robot, wherein the types of the bend include a horizontal first bend, a horizontal second bend and a vertical bend; the turning radius of the horizontal first bend is greater than half of the width of the robot, the turning radius of the horizontal second bend is less than half of the width of the robot, and a portion of the bend arc of the vertical bend is in a vertical direction;

[0026] The speed determination module is used to determine the turning speed of the robot in the corresponding bend based on the bend type, turning radius and angular velocity of the robot's center of mass, wherein the turning speed includes the linear velocity of the magnetic wheel on the turning side and the linear velocity of the magnetic wheel away from the turning side; when the robot travels in the horizontal first bend or the horizontal second bend, the linear velocity of the magnetic wheel away from the turning side and the magnetic wheel on the turning side are determined by the turning radius and the width of the robot; when the robot travels in the vertical bend, the linear velocity of the magnetic wheel away from the turning side and the magnetic wheel on the turning side are equal.

[0027] The third aspect of the present invention discloses a pipeline detection system, comprising a main control box, a robot and a handheld remote controller; the robot and the main control box are connected by wires, and the main control box and the handheld remote controller are wirelessly connected;

[0028] The robot comprises a body, four magnetic wheels are arranged at the bottom of the body, two transmission systems and a phased array probe are arranged at the front end of the body, the two transmission systems are respectively connected to a front magnetic wheel, and the two front magnetic wheels are respectively a turning side magnetic wheel and a side magnetic wheel away from the turning side; a detection board is arranged on the robot;

[0029] The main control box is provided with an industrial computer, the industrial computer is provided with an industrial computer PC, and the industrial computer PC is connected with a display screen, a detection board and a signal transmission module for communicating with a handheld remote control;

[0030] The transmission system includes two servo motors, and the two servo motors obtain the linear speed and rotation direction of the two front magnetic wheels output by the above-mentioned turning driving parameter determination device through the industrial computer PC.

[0031] Preferably, a thickness gauge and a network camera are installed on the robot; the phased array probe, thickness gauge and network camera are all connected to an industrial computer PC via a network switch.

[0032] Preferably, the robot is equipped with a light source, a speed gyroscope and a stepper motor driver; the detection board is equipped with a TCP conversion module and a switch control module;

[0033] Preferably, the light source, speed gyroscope, stepper motor driver and switch control module are all connected to an industrial computer PC via a TCP converter module.

[0034] Compared with the prior art, the present invention has the following beneficial effects:

[0035] The invention discloses a method for determining turning driving parameters of a pipeline robot. Under the condition of known pipeline related parameters, dimensions and the width of the detection robot, the method divides the pipe bends in the pipeline into a horizontal first bend, a horizontal second bend and a vertical bend. The bend arcs of the horizontal first bend and the horizontal second bend are parallel to the horizontal plane, and a part of the bend arc of the vertical bend is in the vertical direction, so that the robot can climb upward. The magnetic wheels on both sides of the robot are divided into turning side magnetic wheels and non-turning side magnetic wheels according to whether they are close to the turning side. When the robot turns for different types of bends, the two types of magnetic wheels are assigned linear velocities in the same direction but with different values ​​or linear velocities in different directions, so that the robot can stably pass through the bend in the pipeline and implement detection. According to the different types of bends in the pipeline, the method provides the linear velocity of the robot turning for each type of bend in the pipeline. When passing through a horizontal bend, the linear velocities of the magnetic wheels away from the turning side and the magnetic wheels on the turning side are determined according to the bend arc and the width of the robot. When passing through a vertical bend, the linear velocities are determined by the angular velocity of the robot's center of mass. This method takes into account almost all types of pipe bends in pipelines, making it highly universal and applicable to pipelines of various shapes. This method is particularly suitable for weld inspection in pipelines with large curvature and small diameters. By using this method, when using a permanent magnetic adsorption pipeline robot, the sizes of pipe bends with different curvature radii in the pipeline can be obtained in advance, and the inspection can be completed safely.

[0036] The present invention also discloses a detection system based on the above-mentioned method for determining turning driving parameters. The entire detection system includes a robot, a main control box and a handheld remote control. During detection, the robot moves in the pipeline, and the main control box is arranged beside the curved pipe. The robot is controlled by the handheld remote control or the main control box, and at the same time, it can monitor the pipeline inner wall image collected by the robot and the parameters of the robot during the driving process. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] Figure 1 A coordinate system diagram of a method for determining turning driving parameters of a pipeline robot according to the present invention;

[0038] Figure 2 is the path diagram of the robot when turning at the first horizontal bend;

[0039] Figure 3 is the path diagram of the robot when turning at the second horizontal bend;

[0040] Figure 4 This is a model diagram of a robot turning in a vertical curved pipe;

[0041] Figure 5 This is the path diagram of the robot when turning in a vertical curved pipe;

[0042] Figure 6 A schematic diagram of a device for determining turning driving parameters of a robot;

[0043] Figure 7 It is a schematic diagram of the structure of a pipeline detection system of the present invention;

[0044] Figure 8 A side view of the robot of the present invention;

[0045] Fig. 9 A front view of the robot of the present invention;

[0046] Fig.10 It is the hardware and software structure diagram of the detection system of the present invention.

[0047] Among them, 1. Main control box; 11. Power supply; 12. Industrial computer; 1201. Display screen; 1202. Main control box joystick; 1203. Controller; 1204. Industrial computer PC; 1205. Serial port IO module; 1206. Signal transmission module; 1207. Emergency stop button;

[0048] 2. Robot; 201. Car body; 202. Detection board; 203. Transmission system; 204. Phased array probe; 205. First servo motor; 206. Second servo motor; 207. Network camera; 208. Thickness gauge; 209. 485 to TCP module; 210. Speed ​​gyroscope; 211. Light source; 212. Stepper motor driver; 213. Stepper motor; 214. Switch control module; 215. First servo motor driver; 216. Second servo motor driver; 217. Network switch;

[0049] 3. Handheld remote control; 301. Switch; 302. Handheld joystick;

[0050] 4. Magnetic wheel; 401. Magnetic wheel on the turning side; 402. Magnetic wheel away from the turning side. DETAILED DESCRIPTION

[0051] The present invention is further described in detail below in conjunction with the accompanying drawings:

[0052] In the description of the present invention, it should be noted that the orientations or positional relationships indicated by the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inside", "outside", etc. are based on the orientations or positional relationships shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention; the terms "first", "second", and "third" are only used for descriptive purposes and cannot be understood as indicating or implying relative importance; in addition, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection or a detachable connection; it can be directly connected or indirectly connected through an intermediate medium, and it can be the internal communication of two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0053] First, all English abbreviations appearing in the present invention are explained.

[0054] The xyz coordinate system is a three-dimensional Cartesian coordinate system, including three coordinate axes, namely the x direction, the y direction and the z direction.

[0055] TCP is the abbreviation of Transmission Control Protocol, which refers to Transmission Control Protocol.

[0056] TCP / IP is the abbreviation of Transmission Control Protocol / Internet Protocol, which refers to Transmission Control Protocol / Internet Protocol.

[0057] PC is the abbreviation of Personal Computer, which refers to personal computer.

[0058] IO is the abbreviation of Input / Output, which refers to input and output.

[0059] Modbus is a serial communication protocol.

[0060] The front and back described below are based on the forward direction of the robot 2 during the detection process as the front, and the relative direction as the back. If the robot 2 climbs in the vertical direction, the moving direction in the vertical direction is the forward direction. The subsequent descriptions are based on this standard and will not be repeated here.

[0061] The first aspect of the present invention discloses a method for determining the turning driving parameters of a pipeline robot, which is a spatial positioning algorithm with pipeline self-adaptation capability. The robot 2 targeted by the method is a permanent magnetic adsorption pipeline robot, which uses the speed difference between the left and right wheels to complete the horizontal turning operation. The robot 2 of the present invention is equipped with four magnetic wheels 4 at the bottom, the two magnetic wheels 4 on the front side of the vehicle body 201 are driving wheels, used to drive the entire robot 2 to move in the pipeline, and the two magnetic wheels 4 on the rear side are driven wheels, used to support the robot 2, so the linear speed calculated subsequently refers to the linear speed of the two magnetic wheels 4 on the front side. In the following calculation and determination process, the center of mass position of the robot 2 is regarded as the center of motion of the robot 2 itself.

[0062] See also Figure 1 , is the coordinate system set by the present invention. Considering that before designing the operating parameters of the robot 2, the size and change law of the pipeline are known, so the basic driving trajectory of the robot 2 in the horizontal pipeline has been determined. First, it is necessary to obtain the position, number and size of the curved pipes in the pipeline, and then obtain the turning radius of the robot 2 in each curved pipe. The driving parameters of the robot 2 are determined in combination with the width of the robot 2. When the robot 2 moves in the vertical pipeline, the linear speed of the two magnetic wheels 4 on the robot 2 and the trajectory of the robot 2 changing with time are determined.

[0063] An xyz coordinate system is established, where the x direction is the length direction of the pipeline, the y direction is the horizontal radial direction of the pipeline, and the z direction is the vertical direction of the pipeline. At the same time, the robot 2 is established in the xyz coordinate system.

[0064] See also Figure 2 and Figure 3 It can be seen that when the robot 2 turns on the horizontal plane, it turns toward the side where a certain magnetic wheel 4 is located, and the magnetic wheel 4 on the turning side is set as the turning side magnetic wheel 401, and the magnetic wheel 4 on the opposite side is the magnetic wheel 402 on the side away from the turning side; it should be noted that the two turning side magnetic wheels 401 and the magnetic wheel 402 on the side away from the turning side involved here are both the two magnetic wheels 4 on the front side of the robot 2.

[0065] The definition of the bending arc of each bend is the intersection arc of the vertical arc surface of the bend passing through the axis of the bend and the bottom of the bend. is the center of the curved arc.

[0066] The basic principle of the robot 2 turning in the curved pipe is that the motors driving the two front magnetic wheels 4 have different rotation speeds or different rotation directions, which in turn causes a speed difference and causes the robot 2 to turn.

[0067] The robot 2 can turn in three situations in the pipeline: the left and right magnetic wheels 4 have the same speed and turn vertically in the vertical curved pipe, the left and right magnetic wheels 4 rotate in the same direction at a differential speed and turn in the first horizontal curved pipe, and the left and right magnetic wheels 4 rotate in opposite directions and turn in the second horizontal curved pipe. Specifically, the following three situations are included:

[0068] When the robot 2 is traveling on the first horizontal curved pipe, the magnetic wheel 401 on the turning side and the magnetic wheel 402 on the far-from-turning side rotate in the same direction, and the linear velocity of the magnetic wheel 402 on the far-from-turning side is greater than the linear velocity of the magnetic wheel 401 on the turning side;

[0069] When the robot 2 is traveling on the second horizontal curved pipe, the magnetic wheel 401 on the turning side and the magnetic wheel 402 on the far-turning side rotate in opposite directions, the magnetic wheel 401 on the turning side moves backward, and the magnetic wheel 402 on the far-turning side moves forward;

[0070] When the robot 2 travels in a vertical curved pipe, the magnetic wheel 401 on the turning side and the magnetic wheel 402 on the away-from-turning side rotate in the same direction and at the same linear speed.

[0071] The three situations are further described below.

[0072] (1) Robot 2 turns in the first horizontal bend

[0073] See also Figure 2 When the robot 2 is traveling in the first horizontal bend, if the speeds of the left and right wheels are in the same direction but different in magnitude, the turning radius of the robot 2 will increase. Point is the center of the circle corresponding to the curved arc of the pipe. is the center of mass of robot 2, and C is the center of the curved arc. and the center of mass position of robot 2 The distance between them is the turning radius of robot 2; V L is the linear velocity of the turning side magnetic wheel 401, is the linear velocity of the center of mass of robot 2, V R is the linear velocity of the magnetic wheel 402 away from the turning side, is the width of robot 2; when robot 2 is traveling in the first horizontal bend, C> , that is, the turning radius is greater than half the width of robot 2.

[0074] Among them, the turning linear velocity of the magnetic wheel 402 away from the turning side is greater than the turning linear velocity of the magnetic wheel 401 on the turning side. More specifically, when turning left, the turning linear velocity of the right magnetic wheel 4 is greater; when turning right, the turning linear velocity of the left magnetic wheel 4 is greater.

[0075] Assume that the linear velocity of the center of mass of robot 2 when turning is , then:

[0076] (1)

[0077] In the formula, is the linear velocity of the center of mass of robot 2, is the linear velocity of the turning side magnetic wheel 401, is the linear velocity of the magnetic wheel 402 away from the turning side.

[0078] According to the kinematics theory and the principle of similar triangles, it can be obtained that robot 2 orbits the center of the circle Angular velocity of the center of mass when turning for:

[0079] (2)

[0080] From equations (1) and (2), it can be obtained that the relationship between the linear velocity of the turning side magnetic wheel 401 and the magnetic wheel 402 away from the turning side and the turning radius C when the robot 2 passes through the horizontal first curved pipe is:

[0081] (3)

[0082] (4)

[0083] For example, when the robot 2 turns in the horizontal first curved pipe, the turning radius C is 525 mm, b is 200 mm, and the ratio of the linear speed of the magnetic wheel 402 away from the turning side and the magnetic wheel 401 on the turning side is:

[0084] (5)

[0085] (2) Robot 2 turns in the second horizontal curved pipe

[0086] See also Figure 3 If the robot 2 encounters a turn at a near right angle or a large angle, it needs to turn quickly. This is the case of turning in the second horizontal bend of the present invention. In this case, the rotation directions of the motors driving the magnetic wheels 4 on both sides are opposite, so that the different rotation directions of the magnetic wheels 4 enable the robot 2 to achieve a very small radius of turning. Its turning radius C can be expressed as: C< In this case, the center of the circle corresponding to the bending arc of robot 2 is On robot 2 itself.

[0087] When turning in the second horizontal bend, the linear velocity of the center of mass of robot 2 is:

[0088] (6)

[0089] in, is the linear velocity of the center of mass of robot 2, is the linear velocity of the turning side magnetic wheel 401, is the linear velocity of the magnetic wheel 402 away from the turning side.

[0090] According to the kinematics theory and the principle of similar triangles, it can be obtained that robot 2 orbits the center of the circle The angular velocity when turning is:

[0091] (7)

[0092] From equations (6) and (7), it can be obtained that the relationship between the linear velocity of the two magnetic wheels 4 and the curved arc C when the robot 2 passes through the second horizontal curved pipe is:

[0093] (8)

[0094] (9)

[0095] (3) When robot 2 moves in the vertical curved pipe

[0096] See also Figure 4 and Figure 5 The motion trajectory of robot 2 in the vertical curved pipe can be described as follows: within the time interval Δt seconds, robot 2 moves at an angular velocity Around the center Point to rotate. Figure 5 As shown in the figure, the movement of robot 2 in the vertical curved pipe is in the yoz or xoz plane. When moving along the vertical curved pipe, the speeds of the left and right wheels of robot 2 are consistent. Click to move Point, robot 2 initial point With the center The line connecting the points is line 1, and the angle between the perpendicular line of line 1 and the x-axis is , set point O2 and the center of the curved pipe The line connecting the points is line 2, and the angle between the perpendicular line of line 2 and the x-axis is ,but and The relationship is:

[0097] (10)

[0098] Center of the vertical bend Click to The distance between the point and the center of the bend Click to The distances between the points are equal, which is equal to the turning radius C of the vertical bend. Obviously, C is greater than half the width of the robot 2.

[0099] According to the positive kinematic relationship, the linear velocity of the center of mass of robot 2 is as follows (11):

[0100] = (11)

[0101] Taking robot 2 in the xoz coordinate system as an example, the coordinates of the robot 2 starting position O1 in the xyz coordinate system are [ ,0, ], the coordinates of point O2 in the xoy coordinate system are [ ,0, ], the position coordinates of robot 2 during vertical turning change with time as [ ,0, ], by combining the two angles through formula (10), we can obtain the angular velocity of the center of mass of robot 2 ,Further, combined with formula (11), the linear velocity of the center of mass of robot 2 is obtained.

[0102] Therefore, when the robot 2 moves in the vertical curved pipe, after determining the initial position O1, it obtains Angle, combined with the turning radius C of the vertical bend, can clearly describe the change of position over time in the xoy coordinate system.

[0103] Currently, most pipelines are laid horizontally, and most of the curved parts of the pipelines are horizontal or vertical bends. Therefore, the above theoretical model can meet the positioning calculation of the robot 2 in the existing pipeline.

[0104] Through the turning models of the robot 2 in the horizontal and vertical directions and using the coordinate transformation relationship, the speed of the robot 2 when turning horizontally in the pipeline and the motion trajectory and speed when turning vertically can be obtained, thereby stabilizing the operation of the robot 2 in the pipeline.

[0105] See also Figure 6 The second aspect of the present invention discloses a device for determining turning driving parameters of a pipeline robot, comprising:

[0106] A collection module is used to collect and obtain the turning radius of the robot 2 on each curved pipe, where the turning radius is a line connecting the center of mass of the robot 2 and the center of the curved pipe arc of the curved pipe;

[0107] A type determination module, for determining the type of the bend based on the turning radius and the width of the robot 2, wherein the types of the bend include a horizontal first bend, a horizontal second bend and a vertical bend; the turning radius of the horizontal first bend is greater than half of the width of the robot 2, the turning radius of the horizontal second bend is less than half of the width of the robot 2, and a portion of the bend arc of the vertical bend is in the vertical direction;

[0108] The speed determination module is used to determine the turning speed of the robot 2 in the corresponding bend based on the bend type, the turning radius and the angular velocity of the center of mass of the robot 2, wherein the turning speed includes the linear velocity of the turning side magnetic wheel 401 and the linear velocity away from the turning side magnetic wheel 402; when the robot 2 is traveling in the horizontal first bend or the horizontal second bend, the linear velocity away from the turning side magnetic wheel 402 and the turning side magnetic wheel 401 is determined by the turning radius and the width of the robot 2; when the robot 2 is traveling in the vertical bend, the linear velocity away from the turning side magnetic wheel 402 and the turning side magnetic wheel 401 is equal.

[0109] When the robot 2 is traveling on the first horizontal curved pipe, the magnetic wheel 401 on the turning side and the magnetic wheel 402 on the far-from-turning side rotate in the same direction, and the linear velocity of the magnetic wheel 402 on the far-from-turning side is greater than the linear velocity of the magnetic wheel 401 on the turning side;

[0110] When the robot 2 is traveling on the second horizontal curved pipe, the magnetic wheel 401 on the turning side and the magnetic wheel 402 on the far-turning side rotate in opposite directions, the magnetic wheel 401 on the turning side moves backward, and the magnetic wheel 402 on the far-turning side moves forward;

[0111] When the robot 2 travels in a vertical curved pipe, the magnetic wheel 401 on the turning side and the magnetic wheel 402 on the away-from-turning side rotate in the same direction and at the same linear speed.

[0112] See also Figure 7 and Fig.10The second aspect of the present invention discloses a pipeline inspection system based on the above pipeline inspection robot, which consists of three parts: a main control box 1, a robot 2 and a handheld remote controller 3. The robot 2 body is adsorbed on the pipeline wall by magnetic adsorption and moves, and is a kind of permanent magnetic adsorption pipeline robot. The robot 2 is connected to the main control box 1 by wired mode; the main control box 1 is equipped with an industrial computer 12, and the industrial computer 12 is equipped with a hardware module that can communicate with and control the robot 2. The industrial computer 12 can obtain the robot 2's own parameters and measured parameters. The industrial computer 12 is installed with interactive control software, which is responsible for the display of the robot 2's operating status and the control of the movement. The handheld remote controller 3 and the main control box 1 use wireless communication, and the handheld remote controller 3 can realize wireless control of the robot 2 through the industrial computer 12. In actual use, the robot 2 enters the pipeline, the main control box 1 is placed next to the pipeline, and the staff holds the remote controller 3 to operate it.

[0113] See also Figure 7 The handheld remote controller 3 is provided with a switch 301 and a handheld joystick 302. The switch 301 can control the opening and closing of the main control box 1, and then control the opening and closing of the robot 2. The handheld joystick 302 can control the movement of the robot 2 through the industrial computer 12. The handheld remote controller 3 is also provided with a signal receiving module for wireless communication with the industrial computer 12. The setting function and setting quantity of the switch 301 can be adjusted according to the actual situation. The handheld remote controller 3 can also be provided with a signal light.

[0114] See also Figure 8 , Fig. 9 and Fig.10In some embodiments of the present invention, the robot 2 includes a vehicle body 201, a detection board 202, a phased array probe 204, a transmission system 203 and magnetic wheels 4, and four magnetic wheels 4 are arranged at the lower part of the vehicle body 201. The transmission system 203 is composed of two servo motors and two pairs of bevel gears, each pair of bevel gears includes a driven bevel gear and an active bevel gear, wherein the servo motor is arranged at the front end of the vehicle body 201, and includes a first servo motor 205 and a second servo motor 206, the first servo motor 205 is driven by a first servo motor driver 215, and the second servo motor 206 is driven by a second servo motor driver 216; the power output end of the servo motor is arranged downward and connected to the active bevel gear, and each active bevel gear is meshed with a driven bevel gear. , the driven bevel gear is connected to the two front magnetic wheels 4, and each servo motor is connected to a reducer; after the turning driving parameter determination device of the above-mentioned robot 2 transmits the rotation parameters of the two front magnetic wheels 4 (including the motor rotation direction and the linear speed of the magnetic wheels 4) to the servo motor, the servo motor drives the driven bevel gear to rotate by driving the active bevel gear, and the two driven bevel gears are respectively connected to the two front magnetic wheels 4, driving the two front magnetic wheels 4 to rotate, and then driving the robot 2 to move as a whole, and the volume and diameter of the active bevel gear are smaller than those of the driven bevel gear.

[0115] See also Figure 8 , Fig. 9 and Fig.10 , a phased array probe 204 is also provided at the front end of the vehicle body 201, and two servo motors are provided on both sides of the phased array probe 204. A detection board 202 is provided at the upper end of the vehicle body 201, and the detection board 202 is a detection signal processing board used by the robot 2 to carry the detection instrument. The detection board 202 is connected to the industrial computer PC1204 of the main control box 1, and data information is transmitted through TCP / IP. The phased array probe 204 is used to detect and capture images in the pipeline, and the images captured by the phased array probe 204 are transmitted to the main control box 1 through the detection board 202, and the magnetic wheel 4 can make the robot 2 firmly adsorbed inside the pipeline.

[0116] In order to make the robot 2 have pipeline self-adaptation capability, hardware for controlling the robot's actions is set in the main control box 1 and the robot 2. The hardware of the control system is generally divided into a carrying part of the main control box 1 and a carrying part of the robot 2.

[0117] See also Fig.10 The hardware modules installed in the main control box 1 include a power supply 11 and an industrial computer 12 , and the power supply 11 supplies power to the entire industrial computer 12 .

[0118] The power supply 11 includes 220V alternating current and 24V direct current, and the direct current supplies power to the hardware of the entire industrial computer 12 .

[0119] The industrial computer 12 includes a display screen 1201, a main control box rocker 1202, a controller 1203, an industrial computer PC 1204, a serial port IO module 1205, a signal transmission module 1206 and an emergency stop button 1207. The industrial computer PC 1204 is connected to the display screen 1201, the controller 1203, the serial port IO module 1205 and the signal transmission module 1206 at the same time. The industrial computer PC 1204 is connected to the network switch 217 in the robot 2 at the same time, and the controller 1203 is connected to the servo motor driver in the robot 2 at the same time. The display screen 1201, the main control box rocker 1202 and the emergency stop button 1207 are all arranged on the outer surface of the industrial computer 12, and the controller 1203, the industrial computer PC 1204, the serial port IO module 1205 and the signal transmission module 1206 are all arranged inside the industrial computer 12.

[0120] Specifically, the serial port IO module 1205 is a Modbus IO converter, and the serial port IO module 1205 is connected to the emergency stop button 1207 and the main control box joystick 1202 at the same time, so that when the main control box 1 is emergency stopped, the operation of the emergency stop button 1207 is transmitted to the industrial computer PC1204 through the serial port IO module 1205, and when the main control box joystick 1202 is operated, the operation of the main control box joystick 1202 is transmitted to the industrial computer PC1204 through the serial port IO module 1205, and the industrial computer PC1204 transmits the corresponding operation information to the robot 2 through the network switch 217.

[0121] Specifically, the display screen 1201 is used to display the images collected in the pipeline and returned by the robot 2 , and can also display some working parameters and information of the robot 2 .

[0122] Specifically, the controller 1203 is a motion controller, and the signal transmission module 1206 is used to perform wireless communication with the handheld remote control 3 .

[0123] See also Fig.10 , the carrying part of the robot 2 is divided into the part in the detection board 202 and the hardware on the robot 2 itself. Specifically, the detection board 202 has a 485 to TCP module 209, a switch control module 214 and a network switch 217. Installed on the robot 2 are a network camera 207, a thickness gauge 208, a phased array probe 204, a velocity gyroscope 210, a light source 211, a stepper motor driver 212, a stepper motor 213, a switch control module 214, a first servo motor driver 215, a second servo motor driver 216, a first servo motor 205, a second servo motor 206 and a network switch 217. Preferably, the stepper motor 213 is a 42 stepper motor, and the stepper motor driver 212 is a 42 stepper motor driver.

[0124] Specifically, the network switch 217 is connected to the 485 to TCP module 209, the phased array probe 204, the thickness gauge 208 and the network camera 207 respectively. The network switch 217 is also connected to the industrial computer PC1204 to receive instructions transmitted by the industrial computer PC1204 and feed back the parameters detected by each detector to the industrial computer PC1204.

[0125] Specifically, the network camera 207 is installed at the front end of the robot 2 to facilitate the capture of the situation inside the pipeline. The captured image can be displayed on the display screen 1201 through the network switch 217 and the industrial computer PC1204.

[0126] Specifically, the thickness gauge 208 is installed on the vehicle body 201 and is used to measure the wall thickness of the pipeline during the operation of the robot 2. At the same time, the measured parameters can be displayed on the display screen 1201 through the network switch 217 and the industrial computer PC1204.

[0127] Specifically, the phased array probe 204 can detect defects and thickness in the pipeline, and the detection results of the phased array probe 204 are displayed on the display screen 1201 through the network switch 217 and the industrial computer PC1204.

[0128] The 485-to-TCP module 209, also known as a serial port server or a serial port networking module, has the main function of converting the RS485 serial port communication protocol into the TCP / IP network communication protocol to realize transparent data transmission between the serial port device and the Ethernet. Therefore, the 485-to-TCP module 209 is respectively connected to the speed gyroscope 210, the light source 211, the stepper motor driver 212 and the switch control module 214 to enable the measurement result of the speed gyroscope 210 to be transmitted to the industrial computer PC1204, and at the same time, the instructions of the industrial computer PC1204 can be transmitted to the light source 211, the stepper motor driver 212 and the switch control module 214.

[0129] Specifically, the stepper motor driver 212 is connected to the stepper motor 213 , and the stepper motor 213 is connected to the phased array probe 204 , so as to control the rotation of the phased array probe 204 , and detect images in multiple directions in the pipeline.

[0130] Specifically, the controller 1203 is connected to the first servo motor driver 215 and the second servo motor driver 216 . The two servo motor drivers are respectively used to drive two servo motors, and the two servo motors are respectively used to drive the two front magnetic wheels 4 .

[0131] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A method for determining turning parameters of a pipeline robot, characterized in that: The following steps are involved: S1, collecting and obtaining the turning radius of the robot (2) at each curved pipe, wherein the turning radius is a line connecting the center of mass of the robot (2) and the center of the curved pipe arc of the curved pipe; S2, based on the turning radius and the width of the robot (2), determining the type of the bend, the type of the bend including a horizontal first bend, a horizontal second bend and a vertical bend; the turning radius of the horizontal first bend is greater than half the width of the robot (2), the turning radius of the horizontal second bend is less than half the width of the robot (2), and a portion of the bend arc of the vertical bend is in a vertical direction; S3, based on the type of the bend, the turning radius and the angular velocity of the center of mass of the robot (2), determining the turning speed of the robot (2) on the corresponding bend, wherein the turning speed includes the linear velocity of the magnetic wheel (401) on the turning side and the linear velocity of the magnetic wheel (402) away from the turning side; The robot (2) is provided with four magnetic wheels (4) at the bottom, the magnetic wheel (4) on the turning side is the turning side magnetic wheel (401), and the magnetic wheel (4) on the opposite side is the far-turning side magnetic wheel (402); the turning side magnetic wheel (401) and the far-turning side magnetic wheel (402) are both the two front side magnetic wheels (4); When the robot (2) is traveling in a horizontal first curved pipe or a horizontal second curved pipe, the linear speed of the magnetic wheel (402) away from the turning side and the magnetic wheel (401) on the turning side is determined by the turning radius and the width of the robot (2); when the robot (2) is traveling in a vertical curved pipe, the linear speed of the magnetic wheel (402) away from the turning side and the magnetic wheel (401) on the turning side are equal.

2. The method for determining turning driving parameters of a pipeline robot according to claim 1, characterized in that: In S3, when the robot (2) is traveling on the horizontal first curved pipe, the magnetic wheel (401) on the turning side and the magnetic wheel (402) on the far-turning side rotate in the same direction, and the linear velocity of the magnetic wheel (402) on the far-turning side is greater than the linear velocity of the magnetic wheel (401) on the turning side; When the robot (2) travels on the second horizontal curved pipe, the magnetic wheel (401) on the turning side and the magnetic wheel (402) on the far-turning side rotate in opposite directions, the magnetic wheel (401) on the turning side moves backwards, and the magnetic wheel (402) on the far-turning side moves forwards; When the robot (2) travels in a vertical curved pipe, the magnetic wheel (401) on the turning side and the magnetic wheel (402) on the side away from the turning side have the same rotation direction and the same linear speed.

3. The method for determining turning driving parameters of a pipeline robot according to claim 1, characterized in that: In S3, when the robot (2) is traveling on the horizontal first curved pipe, the ratio of the linear speed of the magnetic wheel (402) away from the curved side to the linear speed of the magnetic wheel (401) on the curved side is: in, is the linear speed of the turning side magnetic wheel (401), is the linear velocity of the magnetic wheel (402) on the side away from the turning, C is the turning radius, is the width of the robot (2).

4. The method for determining turning driving parameters of a pipeline robot according to claim 1, characterized in that: In S3, when the robot (2) is traveling on the second horizontal curved pipe, the ratio of the linear speed of the magnetic wheel (402) away from the turning side to the linear speed of the magnetic wheel (401) on the turning side is: in, is the linear speed of the turning side magnetic wheel (401), is the linear velocity of the magnetic wheel (402) on the side away from the turning, C is the turning radius, is the width of the robot (2).

5. The method for determining turning driving parameters of a pipeline robot according to claim 1, characterized in that: In S2, when the robot (2) is moving in the vertical curved pipe, the linear speed of the magnetic wheel (401) on the turning side and the magnetic wheel (402) away from the turning side is: = in, is the linear velocity of the center of mass of the robot (2), is the linear speed of the turning side magnetic wheel (401), is the linear velocity of the magnetic wheel (402) away from the turning side, is the angular velocity of the center of mass of the robot (2), is the time difference from the start to a certain moment.

6. A device for determining turning parameters of a pipeline robot for implementing the method of claim 1, characterized in that: include: A collection module, used to obtain the turning radius of the robot (2) on each curved pipe, the turning radius being a line connecting the center of mass of the robot (2) and the center of the curved pipe arc of the curved pipe; A type determination module is used to determine the type of the bend based on the turning radius and the width of the robot (2), the types of the bends comprising a horizontal first bend, a horizontal second bend and a vertical bend; the turning radius of the horizontal first bend is greater than half the width of the robot (2), the turning radius of the horizontal second bend is less than half the width of the robot (2), and a portion of the bend arc of the vertical bend is in the vertical direction; The speed determination module is used to determine the turning speed of the robot (2) in the corresponding curved pipe based on the type of curved pipe, the turning radius and the angular velocity of the center of mass of the robot (2), wherein the turning speed includes the linear velocity of the turning side magnetic wheel (401) and the linear velocity of the away-from-turning side magnetic wheel (402); when the robot (2) is traveling in a horizontal first curved pipe or a horizontal second curved pipe, the linear velocity of the away-from-turning side magnetic wheel (402) and the turning side magnetic wheel (401) are determined by the turning radius and the width of the robot (2); when the robot (2) is traveling in a vertical curved pipe, the linear velocity of the away-from-turning side magnetic wheel (402) and the turning side magnetic wheel (401) are equal.

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