Automatic cruise method for pipeline robot

Abstract

The invention relates to the technical field of robot control, in particular to an automatic cruise method for a pipeline robot. The automatic cruise method comprises the following steps: acquiring pipeline data and robot cruise data through a sensor group of the pipeline robot; the pipeline data and the robot cruise data are coded through a main control chip of the pipeline robot, and a data packet used for being transmitted to upper computer equipment is obtained; receiving and processing the data packet through the upper computer equipment to obtain a control instruction for the pipeline robot; the control instruction is transmitted to the main control chip through the upper computer equipment; and the main control chip drives the pipeline robot to cruise according to the control instruction. According to the method, human participation is not needed, and the automation level and the cruising efficiency of the pipeline robot are improved.

Description

Technical Field

[0001] The present invention relates to the field of robot control technology, and in particular to an automatic cruising method for a pipeline robot. Background Art

[0002] A pipeline robot is a type of robot that moves in a pipeline driven by a motor and is often used for automatic inspection and environmental survey of pipeline systems.

[0003] Existing pipeline robots move in pipelines through pre-setting or real-time control. In this case, the controller needs to understand the situation of the pipeline to determine the movement route or control method. However, for complex pipeline systems, planning the movement route in advance will take a lot of time, and the real-time control method is too dependent on manpower, and the robot's cruising efficiency is low. Summary of the invention

[0004] The present invention aims to solve the technical problem of low cruise control efficiency of a pipeline robot in the prior art.

[0005] In order to solve the above technical problems, the present invention provides an automatic cruising method for a pipeline robot, and the automatic cruising method comprises the following steps:

[0006] Acquire pipeline data and robot cruising data through the sensor group of the pipeline robot;

[0007] Encoding the pipeline data and the robot cruising data through the main control chip of the pipeline robot to obtain a data packet for transmission to a host computer device;

[0008] The host computer device receives and processes the data packet to obtain a control instruction for the pipeline robot;

[0009] The control instruction is transmitted to the main control chip through the host computer device;

[0010] The main control chip drives the pipeline robot to cruise according to the control instruction.

[0011] Furthermore, the sensor group includes a single-point laser radar ToF, a rotation speed sensor and a gyroscope sensor, the single-point laser radar ToF is used to obtain the pipeline data, and the rotation speed sensor and the gyroscope sensor are used to obtain the robot cruising data.

[0012] Furthermore, the pipeline data is the distance between the pipeline and the curve in front of the pipeline robot, and the robot cruising data includes the real-time speed of the motor of the pipeline robot obtained by the speed sensor, and the yaw angle and pitch angle of the current position of the pipeline robot obtained by the gyroscope sensor.

[0013] Furthermore, the step of receiving and processing the data packet by the host computer device to obtain the control instructions for the pipeline robot is specifically as follows:

[0014] After receiving the pipeline data and the robot cruise data, the host computer analyzes and calculates the motion path of the pipeline robot in the pipeline according to the pipeline data and the robot cruise data, saves the motion path, and uses the motion path as the control instruction.

[0015] Furthermore, the method by which the host computer calculates the motion path is:

[0016] The motion posture of the pipeline robot is determined according to the yaw angle and the pitch angle, the motion time of the pipeline robot in the current motion posture is calculated in combination with the real-time rotation speed, and the motion path is obtained according to the motion posture and the motion time.

[0017] Furthermore, the automatic cruise method further comprises the following steps:

[0018] After the host computer device receives the pipeline data and the robot cruise data, it compares the currently received pipeline data and the robot cruise data with the saved motion path. If the currently received pipeline data and the robot cruise data correspond to the saved motion path, the saved motion path is directly transmitted to the main control chip as the control instruction.

[0019] The beneficial effect achieved by the present invention is that an automatic cruising method for a pipeline robot is proposed. The method automatically collects pipeline data and robot motion data based on the sensor group of the pipeline robot, and the data is uniformly received and analyzed and processed by the host computer. The host computer sends control instructions for cruising to the pipeline robot, thereby realizing automatic cruising of the pipeline robot. This process does not require human participation, thereby improving the automation level and cruising efficiency of the pipeline robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 It is a schematic flow chart of the steps of an automatic cruising method for a pipeline robot provided by an embodiment of the present invention;

[0021] Figure 2 is a schematic diagram of the structure of a pipeline robot provided by an embodiment of the present invention;

[0022] Figure 3 It is a data transmission schematic diagram of the automatic cruising method for a pipeline robot provided in an embodiment of the present invention. DETAILED DESCRIPTION

[0023] In order to make the purpose, technical solution and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.

[0024] Please refer to Figure 1 , Figure 1 is a schematic flow chart of the steps of the automatic cruising method for a pipeline robot provided by an embodiment of the present invention. The structure of the pipeline robot described in the embodiment of the present invention is as follows Figure 2 As shown, it consists of a main body, four limbs connected to the main body, and motors and wheels fixed to the four limbs. The pipeline robot is provided with a main control chip to uniformly control various components of the robot. The automatic cruising method includes the following steps:

[0025] S1, obtaining pipeline data and robot cruising data through the sensor group of the pipeline robot;

[0026] S2, encoding the pipeline data and the robot cruising data through the main control chip of the pipeline robot to obtain a data packet for transmission to a host computer device;

[0027] S3, receiving and processing the data packet by the host computer device to obtain a control instruction for the pipeline robot;

[0028] S4, transmitting the control instruction to the main control chip through the host computer device;

[0029] S5. The main control chip drives the pipeline robot to cruise according to the control instruction.

[0030] For details, please refer to Figure 3 , Figure 3 The data transmission diagram of the automatic cruising method for a pipeline robot provided by an embodiment of the present invention is shown in FIG. The sensor group in the embodiment of the present invention includes a single-point laser radar ToF, a rotation speed sensor and a gyroscope sensor. The single-point laser radar ToF is used to obtain the pipeline data, and the rotation speed sensor and the gyroscope sensor are used to obtain the robot cruising data. During implementation, the rotation speed sensor can be integrated into the motor, and the rotation speed data can be obtained through the motor encoder.

[0031] The pipeline data is the distance between the pipeline and the curve in front of the pipeline robot, and the robot cruising data includes the real-time speed of the motor of the pipeline robot obtained by the speed sensor, and the yaw angle and pitch angle of the current position of the pipeline robot obtained by the gyroscope sensor.

[0032] Specifically, the host computer device in the embodiment of the present invention is a computer device independent of the pipeline robot, which is used to uniformly receive and process data transmitted by the pipeline robot. In the embodiment of the present invention, the steps of receiving and processing the data packet by the host computer device to obtain the control instructions for the pipeline robot are specifically as follows:

[0033] After receiving the pipeline data and the robot cruise data, the host computer analyzes and calculates the motion path of the pipeline robot in the pipeline according to the pipeline data and the robot cruise data, saves the motion path, and uses the motion path as the control instruction.

[0034] The pipeline robot is in the pipeline and adjusts the rotation speed of the motor, the swing amplitude of the limbs, etc. according to the control instructions.

[0035] Furthermore, the method by which the host computer calculates the motion path is:

[0036] The motion posture of the pipeline robot is determined according to the yaw angle and the pitch angle, the motion time of the pipeline robot in the current motion posture is calculated in combination with the real-time rotation speed, and the motion path is obtained according to the motion posture and the motion time.

[0037] It can be understood that when the motion posture of the pipeline robot changes, the current motion path will change. At this time, the host computer recalculates the motion path according to the time node of the motion posture change, and splices the motion paths at different time nodes in chronological order to obtain the complete path data of the pipeline robot.

[0038] Furthermore, the automatic cruise method further comprises the following steps:

[0039] After the host computer device receives the pipeline data and the robot cruise data, it compares the currently received pipeline data and the robot cruise data with the saved motion path. If the currently received pipeline data and the robot cruise data correspond to the saved motion path, the saved motion path is directly transmitted to the main control chip as the control instruction.

[0040] Through the above steps, when the pipeline robot re-enters a pipeline that has already cruised, the host computer device can determine the repeated path based on the data it sends back, and thus can directly call the saved motion path without re-analyzing and calculating, thereby reducing the consumption of computing resources and increasing the speed of data transmission, thereby improving the cruising efficiency of the pipeline robot.

[0041] The beneficial effect achieved by the present invention is that an automatic cruising method for a pipeline robot is proposed. The method automatically collects pipeline data and robot motion data based on the sensor group of the pipeline robot, and the data is uniformly received and analyzed and processed by the host computer. The host computer sends control instructions for cruising to the pipeline robot, thereby realizing automatic cruising of the pipeline robot. This process does not require human participation, thereby improving the automation level and cruising efficiency of the pipeline robot.

[0042] Those skilled in the art can understand that all or part of the processes in the above-mentioned embodiments can be implemented by instructing the relevant hardware through a computer program, and the program can be stored in a computer-readable storage medium, and when the program is executed, it can include the processes of the embodiments of the above-mentioned methods. The storage medium can be a disk, an optical disk, a read-only memory (ROM) or a random access memory (RAM).

[0043] It should be noted that, in this article, the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, an element defined by the sentence "comprises a ..." does not exclude the existence of other identical elements in the process, method, article or device including the element.

[0044] Through the description of the above implementation methods, those skilled in the art can clearly understand that the above-mentioned embodiment methods can be implemented by means of software plus a necessary general hardware platform, and of course by hardware, but in many cases the former is a better implementation method. Based on such an understanding, the technical solution of the present invention, or the part that contributes to the prior art, can be embodied in the form of a software product, which is stored in a storage medium (such as ROM / RAM, a magnetic disk, or an optical disk), and includes a number of instructions for enabling a terminal (which can be a mobile phone, a computer, a server, an air conditioner, or a network device, etc.) to execute the methods described in each embodiment of the present invention.

[0045] The embodiments of the present invention are described above in conjunction with the accompanying drawings. What is disclosed is only the preferred embodiment of the present invention. However, the present invention is not limited to the above-mentioned specific implementation manner. The above-mentioned specific implementation manner is only illustrative rather than restrictive. Under the enlightenment of the present invention, ordinary technicians in this field can also make many forms and equivalent changes without departing from the scope of protection of the purpose of the present invention and the claims, all of which are within the protection of the present invention.

Claims

1. An automatic cruising method for a pipeline robot, characterized in that: The automatic cruise method comprises the following steps: Acquire pipeline data and robot cruising data through the sensor group of the pipeline robot; Encoding the pipeline data and the robot cruising data through the main control chip of the pipeline robot to obtain a data packet for transmission to a host computer device; The host computer device receives and processes the data packet to obtain a control instruction for the pipeline robot; The control instruction is transmitted to the main control chip through the host computer device; The main control chip drives the pipeline robot to cruise according to the control instruction.

2. The automatic cruising method for a pipeline robot according to claim 1, characterized in that: The sensor group includes a single-point laser radar ToF, a rotation speed sensor and a gyroscope sensor. The single-point laser radar ToF is used to obtain the pipeline data, and the rotation speed sensor and the gyroscope sensor are used to obtain the robot cruising data.

3. The automatic cruising method for a pipeline robot according to claim 2, characterized in that: The pipeline data is the distance between the pipeline and the curve in front of the pipeline robot, and the robot cruising data includes the real-time speed of the motor of the pipeline robot obtained by the speed sensor, and the yaw angle and pitch angle of the current position of the pipeline robot obtained by the gyroscope sensor.

4. The automatic cruising method for a pipeline robot according to claim 2, characterized in that: The step of receiving and processing the data packet by the host computer device to obtain the control instructions for the pipeline robot is specifically as follows: After receiving the pipeline data and the robot cruise data, the host computer analyzes and calculates the motion path of the pipeline robot in the pipeline according to the pipeline data and the robot cruise data, saves the motion path, and uses the motion path as the control instruction.

5. The automatic cruising method for a pipeline robot according to claim 4, characterized in that: The method by which the host computer calculates the motion path is: The motion posture of the pipeline robot is determined according to the yaw angle and the pitch angle, the motion time of the pipeline robot in the current motion posture is calculated in combination with the real-time rotation speed, and the motion path is obtained according to the motion posture and the motion time.

6. The automatic cruising method for a pipeline robot according to claim 4, characterized in that: The automatic cruise method further comprises the following steps: After the host computer device receives the pipeline data and the robot cruise data, it compares the currently received pipeline data and the robot cruise data with the saved motion path. If the currently received pipeline data and the robot cruise data correspond to the saved motion path, the saved motion path is directly transmitted to the main control chip as the control instruction.

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