Intelligent trolley, pipeline inner wall machining robot and operation control method

Abstract

The invention relates to the technical field of pipeline machining, and particularly discloses an intelligent trolley, a pipeline inner wall machining robot and a control operation method, and efficient self-adaptive execution of complex operation of the pipeline inner wall is achieved through selectable configuration of a full-drive mode and a semi-drive mode in combination with a modular machining device. In the full-drive mode, Mecanum wheels arranged in a mirror image mode cooperate with a telescopic connecting rod mechanism, full-degree-of-freedom movement is supported, complex trajectory tracking such as right-angle turning and axial translation can be accurately completed, and the robot is suitable for fine processes such as welding and cutting; in the semi-driving mode, spiral propelling or linear motion is achieved through common wheel differential control and rifle wheel assistance, a power system is simplified, energy consumption is reduced, and the semi-driving type linear continuous shot blasting machine is suitable for shot blasting, spraying and other linear continuous operation scenes.

Description

Technical Field

[0001] The present invention relates to the technical field of pipeline processing, and in particular to an intelligent vehicle, a pipeline inner wall processing robot and a control operation method. Background Art

[0002] In the industrial production process, pipelines play a vital role and are widely used to transport liquids, gases, powders and other substances. With the development of industrial fields such as oil and gas transportation and chemical pipelines, the demand for high-precision processing of pipeline inner walls (such as welding, testing, grinding, shot blasting, etc.) is increasing.

[0003] In order to achieve walking on the inner wall of the pipeline, some manufacturers have designed a device that walks by combining rubber wheels and universal wheels, such as the combined large-scale pipeline inspection walking device disclosed in Chinese patent announcement No. CN103363246B, in which the upper universal wheel and the lower universal wheel play a walking guide role, so that the whole device always moves along the diameter of the pipeline.

[0004] The above-mentioned walking device has the following technical defects: 1. Insufficient movement flexibility: it can only ensure that it can move circumferentially along the inner wall of the pipe, and cannot achieve adaptive walking processing under different working conditions; 2. The thrust of the spring is used to control the fit between the rubber wheel and the inner wall of the pipe, the radial support force fluctuates greatly, and the walking stability is poor.

[0005] Therefore, the prior art still needs to be improved and developed. Summary of the invention

[0006] In view of the above-mentioned deficiencies in the prior art, the purpose of the present invention is to provide an intelligent trolley, a pipe inner wall processing robot and a control operation method to solve the problems of low efficiency and low safety of workers in the prior art of lifting.

[0007] Smart car, including: Two four-wheeled carts arranged axially symmetrically; A connecting rod mechanism connecting the two four-wheeled carts; The four-wheeled carts are composed of a frame and wheels; In each four-wheeled vehicle: at least two adjacent wheels serve as omnidirectional wheels; The connecting rod mechanism includes a telescopic driving module, and both ends of the telescopic driving module are respectively hinged to the two four-wheeled vehicles; The telescopic driving module can be telescopic along the radial direction of the pipeline, and the distance between the two four-wheeled vehicles and the pressing force on the pipe wall can be adjusted by its own telescopic movement.

[0008] Specifically, the frame is composed of two side beams and two cross beams, the side beams are made of rectangular steel pipes, and the cross beams are made of C-shaped steel or H-shaped steel.

[0009] Specifically, the four-wheeled vehicle further includes a driving motor and a reducer, the driving motor is mounted on a flange of the frame, and the driving motor and the wheels are respectively mounted on both sides of the reducer.

[0010] Specifically, when the four-wheel vehicle is in full drive mode: Each wheel adopts Mecanum wheel as omnidirectional wheel; The Mecanum wheels of the two four-wheeled carts are arranged in mirror image.

[0011] Specifically, when the four-wheeled vehicle is in semi-drive mode: The two four-wheeled vehicles are respectively provided with two ordinary wheels as driving wheels and two rifle wheels as omnidirectional wheels.

[0012] Specifically, there are two telescopic drive modules, and two ends of each telescopic drive module are hinged to the two vehicle frames respectively.

[0013] Specifically, the telescopic driving module includes: The fixed support rod and the telescopic support rod are connected to the two frames through hinges respectively; A cylinder, whose cylinder body is fixedly connected to the fixed support rod, and whose piston rod is fixedly connected to the telescopic support rod; The pneumatic circuit includes an air pipe, an electromagnetic reversing valve, a pressure stabilizing valve and an air compressor, wherein the cylinder is connected to the electromagnetic reversing valve through the air pipe, the reversing valve is connected to the pressure stabilizing valve through the air pipe, and the pressure stabilizing valve is connected to the air supply end of the air compressor through the air pipe.

[0014] Specifically, the telescopic driving module further includes a limit assembly, including: A sleeve, fixed to the cylinder body and sleeved with the piston rod and the telescopic support rod, the sleeve being provided with a limiting groove extending along the telescopic direction of the cylinder; The limit pin is fixed to the telescopic support rod and moves in the limit slot to limit the telescopic stroke.

[0015] Pipe inner wall processing robot, including: Smart car; A control box with a built-in control system is installed on the fixed support rod; An actuator in communication with the control system, comprising a mechanical arm mounted on the frame and a processing device mounted on the mechanical arm, wherein the processing device comprises at least one of a welding device, a cutting device, a spraying device, a detection device, and a shot blasting device; A sensor module in communication with the control system comprises: A gravity sensor, provided on the frame, for collecting inclination data of the four-wheeled vehicle; A first visual sensor, disposed at the front end of the frame, for identifying front working condition data; A second visual sensor, disposed at the rear end of the frame, for identifying rear working condition data; An encoder, used to monitor the speed and displacement data of the drive motor; A third visual sensor is provided on the actuator and is used to identify the weld image; The control system is used to receive and process the data sent by the sensor module, and respectively generate a first control instruction for controlling the movement of the intelligent vehicle and a second control instruction for controlling the processing of the actuator.

[0016] A control operation method of a pipeline inner wall processing robot comprises the following steps: S1. Collect multi-dimensional data through sensor modules, including: Obtain the frame inclination data in real time through the gravity sensor; Identify front working condition data through a first visual sensor; Rear working condition data is identified by a second visual sensor; The drive motor speed and displacement data are synchronously monitored through the encoder; recognizing the weld image by a third visual sensor; S2, receiving the multidimensional data sent by the sensor module through the control system and planning and processing the multidimensional data, respectively generating a first control instruction for controlling the movement of the intelligent vehicle and a second control instruction for controlling the processing of the actuator; S3, performing execution operations on the smart car and the execution structure respectively according to the first control instruction and the second control instruction; including: According to the first control instruction, the connecting rod mechanism of the smart car is controlled to adjust the distance between the two four-wheeled cars by telescoping to adapt to different pipe diameters and maintain contact pressure on the pipe wall; According to the first control instruction, the driving motor of the smart car is controlled to adjust the rotation speed and differential speed of the wheels, adjust the positions and postures of the two four-wheeled cars, and drive the smart car to walk along the planned path; Controlling the mechanical arm of the actuator to perform multi-degree-of-freedom motion according to the second control instruction; According to the second control instruction, the processing device of the execution structure is controlled to perform welding, cutting, spraying, testing or shot blasting operations on the weld position of the pipe wall.

[0017] Specifically, step S2 specifically includes: The inclination data collected by the gravity sensor is processed by the vehicle posture control module of the control system to generate a wheel group coordinated compensation instruction; The vehicle body posture control module and the wheel group drive control module of the control system respectively plan and process the front working condition data collected by the first visual sensor and the rear working condition data collected by the second visual sensor to generate a speed and differential control instruction, wherein the speed and differential control instruction and the wheel group coordinated compensation instruction constitute a first control instruction; The weld seam image collected by the third visual sensor is processed by the image processing weld seam tracking module and the adaptive positioning module of the control system to generate speed and image position coordinate feedback integration instructions; The weld image is received by the posture controller of the control system to generate a joint motion instruction including path planning and force control compensation. The speed and image position coordinate feedback integration instruction and the joint motion instruction constitute the second control instruction.

[0018] Beneficial effects of the present invention: 1. The intelligent trolley, pipeline inner wall processing robot and control operation method of the present invention, the pipeline inner wall processing robot comprises an intelligent trolley and a processing device, the processing device can be an automatic welding device, an automatic detection device, an automatic grinding device, an automatic shot blasting device, etc., in conjunction with the intelligent trolley's adaptive walking in the pipeline, to achieve welding, detection, grinding and other functional operations; 2. It can be matched with different wheels to achieve full-drive mode and semi-drive mode adjustment. The full-drive mode relies on the mirror-arranged Mecanum wheels and the radial expansion and contraction coordination of the connecting rod mechanism to achieve full-degree-of-freedom movement in any direction, which is especially suitable for complex trajectory tracking, such as right-angle turns and axial translation; the semi-drive mode uses the differential control of ordinary wheels and the passive assistance of the rifle wheels to complete spiral movement or linear propulsion under the premise of simplifying the power system, taking into account the economy of high-load operations; both modes balance the load-bearing strength and tube wall adaptability through the rigid-flexible composite structure of the frame to ensure uniform force on the wheels on the variable-diameter or curved tube wall; 3. The pipeline inner wall processing robot further integrates the actuator and the collaborative control unit, so that the movement ability of the smart car is converted into actual processing efficiency; the Mecanum wheel in the full-drive mode supports the synchronous tracking of complex trajectories of welding, cutting and other processes, while the ordinary wheel and the rifle wheel combination in the semi-drive mode are more suitable for linear continuous operations such as shot blasting and spraying. The collaborative control unit matches the processing parameters and motion status in real time through the sensor module. For example, in the bending section, the telescopic amount of the connecting rod mechanism, the wheel differential and the body posture are adjusted in linkage. At the same time, the integration of the pneumatic power unit and the communication module realizes remote monitoring and multi-machine collaboration; this modular design not only retains the high-precision advantage of the full-drive mode, but also reduces the deployment cost of specific scenarios through the semi-drive mode. Combined with replaceable actuators, such as welding robots, shot blasting machines, etc., the robot can flexibly respond to diversified industrial needs from fine welding to large-area rust removal, significantly improving the comprehensive efficiency and scene coverage of pipeline inner wall processing. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 is a three-dimensional diagram of the intelligent car of Example 1; Figure 2 for Figure 1 A magnified view of part A; Figure 3 for Figure 1 A magnified view of part B; Figure 4 for Figure 1 Enlarged view of part C; Figure 5 The structure diagram of the intelligent vehicle of Example 1 walking in a circle along the inner wall of the pipeline Figure 1 ; Figure 6 The structure diagram of the intelligent vehicle of Example 1 walking in a circle along the inner wall of the pipeline Figure 2 ; Figure 7 This is a structural schematic diagram of the intelligent vehicle of Example 1 during its walking process in a reducer tube; Figure 8 This is a structural schematic diagram of the intelligent vehicle in Example 1 moving in the first curved pipe; Fig. 9 This is a structural schematic diagram of the intelligent vehicle in Example 1 moving in the second curved pipe; Fig.10 It is a three-dimensional diagram of the smart car of Example 2; Fig.11 is a three-dimensional diagram of the pipeline inner wall processing robot of Example 3; Fig.12 This is a schematic diagram of the structure of the pipeline inner wall processing robot in Example 3 in the pipeline; Fig.13 is a three-dimensional diagram of a pipeline inner wall processing robot according to Embodiment 4; Fig.14 This is a schematic diagram of the structure of the pipeline inner wall processing robot in Example 4 in the pipeline; Fig.15 This is a flow chart reference of the processing robot control operation method of Example 5.

[0020] The accompanying drawings are marked as follows: four-wheeled cart 10, connecting rod mechanism 20, frame 11, side beam 111, cross beam 112, drive motor 12, reducer 13, flange 113, Mecanum wheel 14, ordinary wheel 15, rifle wheel 16, telescopic drive module 21, fixed support rod 211, telescopic support rod 212, cylinder 213, air pipe 214, electromagnetic reversing valve 215, pressure regulating valve 216, limit assembly 22, sleeve 221, limit groove 222, limit pin 223, control box 17, communication module 18, hinge 114, rotating seat 115, reducer 31, first bend 32, second bend 33, actuator 40, robotic arm 41, processing device 42. DETAILED DESCRIPTION

[0021] The present invention provides an intelligent vehicle, a pipeline inner wall processing robot and a control operation method. In order to make the purpose, technical solution and effect of the present invention clearer and more specific, the present invention is further described in detail with reference to the accompanying drawings and examples. It should be understood that the specific embodiments described here are only used to explain the present invention and are not used to limit the present invention.

[0022] In the description of the present invention, it should be understood that descriptions involving orientations, such as up, down, front, back, left, right, etc., and orientations or positional relationships indicated are based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present invention.

[0023] Example 1 like Figures 1 to 9 , a smart car of this embodiment includes: Two four-wheeled carts 10 arranged axially symmetrically; A connecting rod mechanism 20 connecting the two four-wheeled carts 10 and being retractable in radial direction; The four-wheeled carts 10 are composed of a frame 11, wheels, a drive motor 12 and a reducer 13. The drive motor 12 is mounted on a flange 113 of the frame 11. The drive motor 12 and the wheels are mounted on both sides of the reducer 13 respectively. The eight wheels all use Mecanum wheels 14 as omnidirectional wheels. The Mecanum wheels 14 of the two four-wheeled carts 10 are arranged in a mirror image of each other.

[0024] It should be noted that Figure 1 The dotted circle indicated by L in the figure represents the circumferential motion trajectory of the smart car, the dotted line represents the axis line of the dotted circle, and the dotted line intersecting the axis line represents the connection line between the two axially symmetrical Mecanum wheels 14.

[0025] The four-wheeled cart 10 of this embodiment adopts a full-drive mode, and all eight wheels use Mecanum wheels 14 as omnidirectional wheels. By combining two four-wheeled carts 10 with a radially retractable connecting rod mechanism 20, combined with the mirror arrangement of the Mecanum wheels 14 in the full-drive mode, a unique omnidirectional walking ability is formed. Its walking principle is based on the omnidirectional motion characteristics of the Mecanum wheels 14. Each wheel is independently controlled by a drive motor 12 and a reducer 13. The Mecanum wheels 14 of the two four-wheeled carts 10 are arranged in a mirror image, so that the two four-wheeled carts 10 can generate a synthetic driving force in any direction when they move in coordination. When the cart enters a pipeline or complex terrain, the mirror-arranged Mecanum wheels 14 can achieve axial translation, lateral offset, rotation in place or oblique movement by adjusting the rotation speed and differential speed of each wheel. At the same time, the telescopic function of the connecting rod mechanism 20 can adaptively adjust the distance between the two four-wheeled carts 10 to ensure that the wheels always maintain a stable pressure with the contact surface.

[0026] Since each Mecanum wheel 14 is independently driven, the system can accurately control the motion trajectory of the entire vehicle through vector synthesis, and can achieve complex path planning even in narrow spaces or on the inner wall of a pipe with obstacles. The mirror-symmetrical wheel layout further enhances the coordination of movement and avoids energy loss or motion interference caused by conflicting wheel train angles. In addition, the telescopic characteristics of the connecting rod mechanism 20 not only expand the lateral adjustment range of the car, but also solve the problem that the four wheels of the four-wheeled car 10 are not in the same plane during rotation in the pipe, significantly improving the obstacle crossing ability and driving stability. This combined design allows the smart car to have omnidirectional mobility, high-precision positioning and strong environmental adaptability while maintaining a compact structure.

[0027] The intelligent car further optimizes its motion performance and reliability through the specific structural design of the frame 11. The frame 11 is composed of side beams 111 and cross beams 112. The side beams 111 are made of rectangular steel pipes. Their closed cross-section characteristics give the frame high longitudinal rigidity, which can stably carry the core power components such as the drive motor 12 and the reducer 13, ensuring the torque transmission efficiency of the Mecanum wheel 14 in complex movements; the cross beam 112 is made of C-shaped steel or H-shaped steel. Its open or I-shaped cross section allows the cross beam 112 to produce controllable elastic torsional deformation when the wheel contacts the uneven surface while ensuring the lateral support strength. This rigid-flexible design allows the torsion of the cross beam 112 to adaptively adjust the relative posture of the side beams 111 on both sides when the intelligent car passes through the concave and convex area of ​​the inner wall of the pipeline, avoiding the instability of movement caused by the suspension of one side wheel or excessive force, and at the same time, by dynamically distributing the load, it ensures that the eight Mecanum wheels 14 always maintain uniform pressure on the contact surface, improving the effectiveness and energy utilization of omnidirectional drive.

[0028] Thanks to the structural characteristics of the frame 11, the high rigidity of the side beam 111 provides a stable installation foundation for the drive motor 12 and the reducer 13, ensuring the precise control of the Mecanum wheel 14 and the consistency of the power output; and the flexible deformation ability of the cross beam 112 forms a synergistic effect with the radial telescopic function of the connecting rod mechanism 20, which can absorb the impact of the inner wall of the tube (through the weld or curvature change) through local deformation, and maintain the stability of the motion trajectory through the elastic adjustment of the frame as a whole. This design not only enhances the obstacle crossing ability and motion accuracy of the smart car in complex environments, but also reduces the metal fatigue risk of the frame 11 through stress dispersion, extending the service life of the device.

[0029] Furthermore, the connecting rod mechanism 20 includes a telescopic drive module 21, and both ends of the telescopic drive module 21 are respectively hinged to the two frames 11; the telescopic drive module 21 can be telescoped along the radial direction of the pipeline to adjust the distance between the two four-wheeled carts 10 and the pressing force on the pipe wall; the connecting rod mechanism 20 realizes the dynamic adaptability of the smart car in the pipeline scene through the symmetrical layout and articulated design of the telescopic drive module 21. The telescopic drive module 21 uses a cylinder as a power source, and its cylinder body and piston rod are respectively fixed on two sets of rigid support rods of the connecting rod mechanism 20, which are converted into symmetrical radial displacement of the frame 11 through linear telescopic motion, thereby adjusting the distance between the two four-wheeled carts 10 and the pressing force on the pipe wall. When the smart car enters such as Figure 7 The reducer 31 shown or Figure 7 and Figure 8 As shown in the first bend 32 and the second bend 33, the hinged structure allows the frames 11 on both sides to rotate synchronously around the connection point, so that the Mecanum wheel 14 automatically adjusts the contact angle as the curvature or diameter of the tube wall changes. At the same time, the telescopic drive module 21 compensates for the difference in tube diameter through real-time telescoping, ensuring that the wheel always fits the inner wall with the optimal pressure to avoid slipping or detachment.

[0030] The present application adjusts the distance between the two four-wheeled carts 10 in real time to adapt to the change in the inner diameter of the pipeline through the telescopic movement of the telescopic drive module 21 along the radial direction of the pipeline. When the intelligent vehicle is traveling in a variable-diameter pipeline or a curved section, the active telescopic movement of the telescopic drive module 21 cooperates with the freedom of the articulated structure, so that each four-wheeled cart 10 can independently adjust the body pitch angle around the hinge center, realize the relative posture adjustment between the two bodies, and thus complete the variable-diameter transition and curve trajectory adaptation. At the same time, the telescopic drive module 21 maintains a constant pressing contact between the wheels of the four-wheeled cart 10 and the pipe wall by continuously applying radial telescopic force, ensuring the dynamic stability of the walking mechanism and the effective transmission of driving force under complex pipeline conditions.

[0031] Furthermore, the present embodiment adopts two telescopic drive modules 21. The two sets of symmetrically distributed telescopic drive modules 21 maintain the balance of the vehicle body when adjusting the spacing between the four-wheeled vehicles 10 through synchronous telescopic control, thereby reducing the risk of overloading caused by unilateral drive. The optimization of the lever ratio of the support rod further reduces the load requirement of the linear propulsion device and extends the service life of the drive components. When crossing the reducer 31 or the first bend 32 and the second bend 33, the differential rotation capability of the articulated structure enables the two side frames 11 to adjust their postures independently, which not only ensures the omnidirectional motion accuracy of the Mecanum wheel 14 on complex curved surfaces, but also improves the traction efficiency through dynamic clamping force distribution. This synergistic effect enables the intelligent vehicle to autonomously adapt to a variety of pipeline conditions without external intervention, significantly expanding its scope of application and operational reliability.

[0032] The telescopic drive module 21 includes a fixed support rod 211, a telescopic support rod 212, a cylinder 213, and a pneumatic circuit; the fixed support rod 211 and the telescopic support rod 212 are respectively connected to the two frames 11 through hinges 114; the cylinder body of the cylinder 213 is fixedly connected to the fixed support rod 211, and the piston rod of the cylinder 213 is fixedly connected to the telescopic support rod 212; the pneumatic circuit includes an air pipe 214, an electromagnetic reversing valve 215, a pressure regulating valve 216 and an air compressor, the cylinder 213 is connected to the electromagnetic reversing valve 215 through the air pipe 214, the electromagnetic reversing valve 215 is connected to the pressure regulating valve 216 through the air pipe 214, and the pressure regulating valve 216 is connected to the air supply end of the air compressor through the air pipe 214.

[0033] Based on the linear telescopic drive characteristics of the cylinder 213, when the air compressor supplies air to the pneumatic circuit, the electromagnetic reversing valve 215 switches the direction of the airflow path, controls the piston rod of the cylinder 213 to extend or retract, and drives the telescopic support rod 212 to move relative to the fixed support rod 211, thereby driving the two four-wheeled vehicles 10 to synchronously approach or move away along the radial direction of the pipeline, and adjusting the spacing and the pressing force on the pipe wall in real time. The pressure regulating valve 216 ensures the smooth movement of the cylinder 213 by balancing the air circuit pressure, avoiding movement jitter or overload caused by air pressure fluctuations, and the connection method of the hinge 114 allows the frame 11 to adaptively deflect in the scene of changing diameter or bending pipes, maintaining the fit between the Mecanum wheel 14 and the pipe wall.

[0034] With the help of the rapid reversing capability of the electromagnetic reversing valve 215, the pneumatic circuit can instantly adjust the telescopic state of the cylinder 213, so that the intelligent car can quickly complete posture reconstruction when encountering a sudden change in pipe diameter or a bend in the pipe, reducing the risk of motion interruption. The stable control of the air source by the pressure regulating valve 216 further improves the accuracy of the clamping force adjustment, avoiding wheel slippage or pipe wall damage due to sudden changes in pressure. In addition, the rigid connection structure between the cylinder 213 and the fixed support rod 211 and the telescopic support rod 212 not only ensures the efficient transmission of the driving force, but also offsets the local stress concentration caused by the deformation of the pipeline through the flexible adaptation characteristics of the hinge 114, thereby extending the service life of the mechanical components. This deep fusion design of pneumatics and mechanics enables the intelligent car to have both rapid response and precise control in a complex pipeline environment.

[0035] The telescopic drive module 21 also includes a limit assembly 22, including a sleeve 221 and a limit pin 223; the sleeve 221 is fixed to the cylinder body and is sleeved with the piston rod and the telescopic support rod 212, and the sleeve 221 is provided with a limit groove 222 extending along the telescopic direction of the cylinder 213; the limit pin 223 is fixed to the telescopic support rod 212 and moves in the limit groove 222, so as to limit the telescopic stroke.

[0036] The telescopic drive module 21 of this embodiment further improves the safety and mechanical durability of motion control through the limit assembly 22. The sleeve 221 is fixed to the cylinder body of the cylinder 213 and wraps the connecting section between the piston rod and the telescopic support rod 212. The limit groove 222 opened on its side wall extends along the telescopic direction of the cylinder 213. The limit pin 223 is vertically fixed to the telescopic support rod 212 and embedded in the limit groove 222. When the cylinder 213 drives the telescopic support rod 212 to move, the sliding trajectory of the limit pin 223 in the limit groove 222 strictly constrains the displacement range of the telescopic support rod 212, which not only prevents the cylinder 213 from being damaged by overload or misoperation, but also maintains the axial centering of the telescopic support rod 212 and the fixed support rod 211 through rigid guidance to avoid skew friction. At the same time, the length of the limit groove 222 limits the radial adjustment limit of the four-wheeled vehicle 10, ensuring that the pressing force between the Mecanum wheel 14 and the pipe wall is always within the safety threshold, thereby enhancing the reliability and structural life of the adaptive adjustment.

[0037] Example 2 Please refer to Fig.10 This embodiment discloses a smart car, including: Two axially symmetrically arranged four-wheeled carts 10; A connecting rod mechanism 20 connecting the two four-wheeled carts 10 and being retractable in radial direction; The four-wheeled carts 10 are each composed of a frame 11, wheels, a drive motor 12 and a reducer 13. The drive motor 12 is installed on the flange 113 of the frame 11, and the drive motor 12 and the wheels are respectively installed on both sides of the reducer 13. The two four-wheeled carts 10 are respectively provided with two ordinary wheels 15 as drive wheels and two rifle wheels 16 as omnidirectional wheels. The four ordinary wheels 15 are equipped with a drive motor 12 and a reducer 13, and the four rifle wheels 16 do not need to be equipped with a drive motor 12 and a reducer 13. The intelligent cart of this embodiment adopts a semi-drive mode, and realizes spiral motion in the pipeline by differential control of the ordinary wheels 15 symmetrically arranged along the axial direction of the pipeline, in coordination with the omnidirectional motion of the rifle wheels 16.

[0038] It should be noted that Fig.10 The dotted circle indicated by M in the figure represents the circumferential motion trajectory of the smart car, the dotted line represents the axis line of the dotted circle, one of the dotted lines intersecting the axis line represents the line between the two axially symmetrical Rifle wheels 16, and the other dotted line intersecting the axis line represents the line between the two axially symmetrical ordinary wheels 15.

[0039] This embodiment is based on the differentiated division of labor between ordinary wheels 15 and rifle wheels 16: four ordinary wheels 15 are used as active driving wheels, and differential adjustment is achieved through independent control of the drive motor 12 and the reducer 13 to drive the trolley to move axially or circumferentially along the pipeline; the rifle wheels 16 symmetrically arranged on the two four-wheeled trolleys 10 are used as driven omnidirectional wheels, and the lateral displacement of the vehicle body is assisted by the free rotation of the rollers. When the smart trolley needs to perform spiral motion along the inner wall of the pipeline, the control box 17 generates a speed difference between the ordinary wheels 15 on both sides through differential instructions, pushing the vehicle body to rotate around the axis of the pipeline, and at the same time, the rifle wheels 16 passively adapt to lateral slippage on the contact surface to form a spiral trajectory. The radial telescopic function of the connecting rod mechanism 20 can adjust the distance between the two four-wheeled trolleys 10 to ensure that the ordinary wheels 15 and the rifle wheels 16 can maintain effective contact under different pipe diameters.

[0040] The beneficial effects of this design are reflected in structural simplification and cost optimization. Compared with the full-drive mode (such as the eight Mecanum wheels 14 in Example 1), the semi-drive mode only requires the ordinary wheel 15 to be equipped with a drive motor 12 and a reducer 13, which greatly reduces the complexity and energy consumption of the power system. At the same time, the driven characteristics of the rifle wheel 16 enable it to assist in omnidirectional fine-tuning without the need for additional drive components, which is particularly suitable for pipeline scenarios dominated by straight or spiral trajectories (such as long-distance spraying or inspection). In addition, the high traction characteristics of the ordinary wheel 15 can adapt to high-load operations (such as shot blasting or cutting), and the axially symmetrical wheel layout can still achieve basic functions through differential control. Although it cannot complete complex actions such as right-angle turns, it takes into account both motion efficiency and economy under conditions of uniform pipe diameter, providing a more cost-effective solution for specific industrial scenarios.

[0041] Example 3 Please refer to Fig.11 and 12 This embodiment also discloses a pipeline inner wall processing robot, including a control box 17, a sensor module and the intelligent vehicle of embodiment 1.

[0042] The control box 17 is mounted on the fixed support rod 211 and has a control system therein.

[0043] The actuator 40 is connected to the control system in communication. The actuator 40 includes a mechanical arm 41 mounted on the frame 11 and a processing device 42 mounted on the mechanical arm 41. The processing device 42 uses a welding device, which is mounted on the frame 11 of one of the four-wheeled carts 10 and is used to perform the inner wall welding operation of the pipeline. Of course, in other embodiments, according to the processing operation requirements, the processing device 42 can also use any one of a cutting device, a spraying device, a detection device, and a shot blasting device. This embodiment is described with a welding device.

[0044] The sensor module is connected to the control system for communication, and includes four gravity sensors, a first visual sensor, a second visual sensor, eight encoders and a third visual sensor. Among them: There are four gravity sensors, which are arranged at four corners of the frame 11 (four-quadrant arrangement) for collecting the inclination data of the four-wheeled vehicle 10 .

[0045] The first visual sensor is disposed at the front end of the vehicle frame 11 and is used to identify the front working condition data.

[0046] The second visual sensor is disposed at the rear end of the vehicle frame 11 and is used to identify rear working condition data.

[0047] Each of the eight drive motors 12 is provided with an encoder for monitoring the rotation speed and displacement data of the drive motor 12 .

[0048] The third visual sensor is provided on the actuator 40 and is used to identify the weld image of the inner wall of the pipeline; The control system is used to receive and process the data sent by the sensor module, and respectively generate a first control instruction for controlling the walking of the intelligent vehicle and a second control instruction for controlling the processing of the actuator.

[0049] The pipeline inner wall processing robot provided in this embodiment is based on the intelligent car 10 to build a mobile platform, and realizes multi-system collaborative control through the control box 17 carried by the frame 11. Its core action principle is reflected in the following: the drive motor 12 of the four-wheel car 10 is controlled by the control system set in the control box 17, and the speed and displacement data fed back by the encoder are used to adjust the differential speed of each wheel in real time to ensure the stability of the vehicle body walking along the pipeline. The connecting rod mechanism 20 dynamically adjusts the spacing of the four-wheel car 10 through telescopic action, so that the wheels always fit the pipe wall and maintain a constant contact pressure to adapt to the working environment of different pipe diameters. The mechanical arm 41 of the actuator 40 is equipped with a welding device, and the three-dimensional morphology or surface defects of the weld are captured in real time by the third visual sensor. Combined with the first visual sensor to identify the front working condition data and the second visual sensor to identify the rear working condition data, the control system receives and processes the data sent by the sensor module, and generates a first control instruction for controlling the walking of the intelligent car and a second control instruction for controlling the processing of the actuator, respectively, to achieve precise processing posture adjustment.

[0050] The working principle of the robot deeply integrates multi-source sensor data and closed-loop control logic. The gravity sensor continuously monitors the inclination changes of the frame 11, and together with the data collected by the encoder, constructs a multi-degree-of-freedom motion model of the vehicle body, and eliminates the time and space errors between sensors through the data fusion module of the control box 17. When the first visual sensor identifies the elbow or reducer structure of the pipe in front, the control system of the control box 17 synchronously starts the SLAM mapping function, builds a safe operating space model in the rear, and generates a collision-free path through the trajectory planning and force control compensation module. The visual-force closed loop formed by the third visual sensor at the end of the robotic arm 41 can be detected in real time during the welding process, and fed back to the control system to dynamically correct the welding gun posture to avoid unfused or undercut defects.

[0051] Through the collaborative perception of multiple sensors and hierarchical control strategies, adaptive operations in complex pipeline environments are achieved. The linkage control of the four-wheeled vehicle 10 and the actuator 40 solves the problem of posture instability of traditional devices in curved pipes and variable diameter pipe sections, and the linkage of three visual sensors significantly improves the trajectory tracking accuracy.

[0052] Furthermore, the control box 17 is provided with a communication module 18, and the communication module 18 includes an Ethernet communication interface, a USB communication interface and a wireless communication device provided in the control box 17. The intelligent car of this embodiment realizes intelligent control through the coordinated design of the control box 17, the sensor module and the communication module 18. The control box 17 is integrated into the fixed support rod 211, directly receives the pipeline inner wall trajectory data collected by the sensor module, controls the speed and differential speed of the Mecanum wheel 14 in real time, and interacts with the external system through the Ethernet, USB or wireless link of the communication module 18; the symmetrical layout of the visual sensor at the front and rear ends of the frame 11 can collect images of the weld area of ​​the inner wall of the pipeline in real time, identify the weld position by combining the image processing algorithm (such as edge detection, feature matching, deep learning, etc.), and dynamically adjust the clamping force and wheel motion parameters of the telescopic drive module 21 by combining the real-time decision algorithm of the control box 17, so as to ensure the omnidirectional motion accuracy under complex trajectories, and the multi-mode communication interface supports plug-and-play for on-site debugging, and can realize remote monitoring and group collaboration through wireless networks, which significantly improves the multi-scenario adaptability and system scalability of the intelligent car.

[0053] Example 4 Please refer to Fig.13 and 14 This embodiment also discloses a pipeline inner wall processing robot, including a control box 17, a sensor module and the intelligent vehicle of embodiment 1.

[0054] The control box 17 is mounted on the fixed support rod 211 and has a control system therein.

[0055] The actuator 40 is connected to the control system in communication. The main structure of the actuator 40 includes four independently controllable mechanical arms 41. Each end of the mechanical arm is equipped with a dedicated processing device 42. The two mechanical arms 41 are installed in groups through the symmetrical design of the frame 11 to form a distributed layout of two frames and four arms. The four processing devices 42 are respectively equipped with front welding equipment, rear welding equipment, front grinding equipment and rear grinding equipment to form a complete pipeline inner wall double welding-double grinding processing system.

[0056] In this embodiment, the front welding equipment is used to prime the weld of the pipe wall, and the rear welding equipment is used to stack the cover welding layer simultaneously. The double welding stations make the welding layer surface smoother and ensure the welding quality. The front and rear grinding equipment are respectively equipped with diamond grinding discs and fiber polishing wheels to perform two-level processing of rough grinding and fine polishing on the welding area. In addition, the motion control of the four mechanical arms 41 is coordinated to ensure that the welding and grinding processes are completed synchronously in a single circumferential movement of the pipeline, thereby improving efficiency.

[0057] Example 5 Please refer to Fig.15This embodiment discloses a processing robot control operation method, and uses the pipeline inner wall processing robot of embodiment 4 to perform the operation, including the following steps: S0 preparation before operation: Before the smart car 10 enters the pipeline, the self-test program of the control system is started, and the drive motor 12 is tested without load through the wheel side dynamic control module of the control system, and the sensor calibration process is activated at the same time: the gravity sensor performs zero bias calibration, the first visual sensor and the second visual sensor complete the dual-target calibration, and the third visual sensor loads the weld recognition model. The control system establishes the pipeline axial reference coordinate system, and the cylinder 213 is telescopically adjusted to adjust the preset distance between the two four-wheeled cars 10 to complete the system initialization and sensor parameter calibration.

[0058] S1. Multi-dimensional data collection: The gravity sensor installed in the four quadrants of the frame 11 monitors the inclination change of the four-wheeled vehicle in real time, and forms a dual-source verification of the vehicle posture with the speed of the drive motor 12 fed back by the encoder; the first visual sensor scans the inner wall morphology of the pipeline at the front end; the second visual sensor identifies the rear working condition data; the third visual sensor identifies the weld image. All sensor data are aggregated and outliers are eliminated before being transmitted to the control decision layer of the control system.

[0059] S2. Data planning and instruction generation: The inclination data collected by the gravity sensor is processed by the vehicle posture control module of the control system to generate a wheel group coordinated compensation instruction; The vehicle body posture control module and the wheel group drive control module of the control system respectively plan and process the front working condition data collected by the first visual sensor and the rear working condition data collected by the second visual sensor to generate a speed and differential control instruction. The speed and differential control instruction and the wheel group coordinated compensation instruction constitute a first control instruction; The weld seam image collected by the third visual sensor is processed by the image processing weld seam tracking module and the adaptive positioning module of the control system to generate speed and image position coordinate feedback integration instructions; The weld image is received by the posture controller of the control system to generate joint motion instructions including path planning and force control compensation. The speed and image position coordinate feedback integration instructions and the joint motion instructions constitute the second control instructions.

[0060] S3, performing execution operations on the smart car and the execution structure respectively according to the first control instruction and the second control instruction; specifically including: According to the first control instruction and the second control instruction, the intelligent car and the execution structure are respectively executed; including: According to the first control instruction, the connecting rod mechanism of the intelligent trolley is controlled to adjust the distance between the two four-wheeled trolleys 10 by telescoping to adapt to different pipe diameters and maintain the contact pressure on the pipe wall; According to the first control instruction, the driving motor of the smart car is controlled to adjust the rotation speed and differential speed of the wheels, adjust the position and posture of the two four-wheeled cars 10, and drive the smart car to walk along the planned path; Controlling the mechanical arm 41 of the actuator to perform multi-degree-of-freedom motion according to the second control instruction; According to the second control instruction, the processing device 42 of the execution structure 40 is controlled to perform welding, cutting, spraying, testing or shot blasting operations on the weld position of the pipe wall.

[0061] S4. Abnormal working condition handling: When the trajectory deviation exceeds the limit or the sensor data is detected to be abnormal, the error alarm module of the control system immediately triggers the adaptive feedback adjustment mechanism, prioritizes the execution of the safety shutdown protocol, and sends the fault code back to the remote monitoring end.

[0062] This method realizes adaptive operation in complex pipeline environments through a closed-loop architecture of sensor layer → data aggregation → control decision → actuator layer. Among them, the linkage mechanism of wheel group collaborative compensation and robotic arm force control compensation effectively solves the posture instability problem of curved pipes and variable diameter pipe sections, and the priority arbitration strategy of the dynamic optimization level module ensures the collaborative efficiency of multi-task operations. The coordinate anti-locking module and the adaptive positioning → path planning iteration mechanism shown in the attached figure together constitute the core innovation of this control operation method, which significantly improves the accuracy and reliability of pipeline inner wall processing.

[0063] The preferred embodiments of the present invention are described in detail above, but the present invention is not limited to the embodiments. Those skilled in the art may make various equivalent modifications or substitutions without violating the spirit of the present invention. These equivalent modifications or substitutions are all included in the scope defined by the claims of the present invention.

Claims

1. The smart car is characterized by: include: Two four-wheeled carts (10) arranged axially symmetrically; A connecting rod mechanism (20) connecting the two four-wheeled vehicles (10); The four-wheeled vehicle (10) is composed of a frame (11) and wheels; In each four-wheeled vehicle (10): at least two adjacent wheels serve as omnidirectional wheels; The connecting rod mechanism (20) comprises a telescopic driving module (21), and two ends of the telescopic driving module (21) are respectively hinged to the two four-wheeled vehicles (10); The telescopic drive module (21) can be telescopic in the radial direction of the pipeline, and can adjust the distance between the two four-wheeled vehicles (10) and the pressing force on the pipeline wall through its own telescopic movement.

2. The smart car according to claim 1, characterized in that: The vehicle frame (11) is composed of two side beams (111) and two cross beams (112); the side beams (111) are made of rectangular steel pipes, and the cross beams (112) are made of C-shaped steel or H-shaped steel.

3. The smart car according to claim 1, characterized in that: The four-wheeled vehicle (10) further comprises a drive motor (12) and a reducer (13); the drive motor (12) is mounted on a flange (113) of the vehicle frame (11); and the drive motor (12) and the wheels are respectively mounted on both sides of the reducer (13).

4. The intelligent car according to claim 1, characterized in that: When the four-wheeled vehicle (10) is in full drive mode: Each wheel adopts a Mecanum wheel (14) as an omnidirectional wheel; The Mecanum wheels (14) of the two four-wheeled carts (10) are arranged in mirror image to each other.

5. The intelligent car according to claim 1, characterized in that: When the four-wheeled vehicle (10) is in the semi-driving mode: The two four-wheeled vehicles (10) are respectively provided with two ordinary wheels (15) as driving wheels and two rifle wheels (16) as omnidirectional wheels.

6. The intelligent car according to claim 3, characterized in that: There are two telescopic drive modules (21), and two ends of each telescopic drive module (21) are respectively hinged to the two vehicle frames (11).

7. The intelligent car according to claim 6, characterized in that: The telescopic driving module (21) comprises: A fixed support rod (211) and a telescopic support rod (212) are respectively connected to the two vehicle frames (11) via hinges (114); A cylinder (213), the cylinder body of which is fixedly connected to the fixed support rod (211), and the piston rod of which is fixedly connected to the telescopic support rod (212); A pneumatic circuit comprises an air pipe (214), an electromagnetic reversing valve (215), a pressure stabilizing valve (216) and an air compressor, wherein the air cylinder (213) is connected to the electromagnetic reversing valve (215) via the air pipe (214), the electromagnetic reversing valve (215) is connected to the pressure stabilizing valve (216) via the air pipe (214), and the pressure stabilizing valve (216) is connected to an air supply end of the air compressor via the air pipe (214).

8. The smart car according to claim 7, characterized in that: The telescopic driving module (21) further comprises a limit assembly (22), comprising: A sleeve (221) is fixed to the cylinder body and sleeved with the piston rod and the telescopic support rod (212); the sleeve (221) is provided with a limiting groove (222) extending along the telescopic direction of the cylinder (213); The limit pin (223) is fixed to the telescopic support rod (212) and moves in the limit slot (222) to limit the telescopic stroke.

9. A pipeline inner wall processing robot, characterized in that: The smart car comprises the smart car according to claim 7, and: A control box (17) with a built-in control system, mounted on the fixed support rod (211); an actuator (40) communicatively connected to the control system, comprising a mechanical arm (41) mounted on the vehicle frame (11) and a processing device (42) mounted on the mechanical arm (41), wherein the processing device (42) comprises at least one of a welding device, a cutting device, a spraying device, a detection device, and a shot blasting device; A sensor module in communication with the control system comprises: A gravity sensor, arranged on the vehicle frame (11), used for collecting inclination data of the four-wheeled vehicle (10); A first visual sensor, disposed at the front end of the vehicle frame (11), and used for identifying front working condition data; A second visual sensor, disposed at the rear end of the vehicle frame (11), for identifying rear working condition data; An encoder, used to monitor the rotation speed and displacement data of the drive motor (12); A third visual sensor, provided on the actuator (40), for identifying a weld image; The control system is used to receive and process the data sent by the sensor module, and respectively generate a first control instruction for controlling the movement of the intelligent vehicle and a second control instruction for controlling the processing of the actuator.

10. A control method for a pipeline inner wall processing robot as claimed in claim 9, characterized in that: The following steps are involved: S1. Collect multi-dimensional data through sensor modules, including: Acquiring inclination data of the vehicle frame (11) in real time through a gravity sensor; Identify front working condition data through a first visual sensor; Rear working condition data is identified by a second visual sensor; The drive motor speed and displacement data are synchronously monitored through the encoder; recognizing the weld image by a third visual sensor; S2, receiving the multidimensional data sent by the sensor module through the control system and planning and processing the multidimensional data, respectively generating a first control instruction for controlling the movement of the intelligent vehicle and a second control instruction for controlling the processing of the actuator; S3, performing execution operations on the smart car and the execution structure respectively according to the first control instruction and the second control instruction; including: According to the first control instruction, the connecting rod mechanism of the intelligent vehicle is controlled to adjust the distance between the two four-wheeled vehicles (10) by telescoping to adapt to different pipe diameters and maintain contact pressure on the pipe wall; According to the first control instruction, the driving motor of the intelligent car is controlled to adjust the rotation speed and differential speed of the wheels, adjust the position and posture of the two four-wheeled cars (10), and drive the intelligent car to move along the planned path; Controlling a mechanical arm (41) of the actuator to perform multi-degree-of-freedom motion according to the second control instruction; According to the second control instruction, the processing device (42) of the execution structure is controlled to perform welding, cutting, spraying, testing or shot blasting operations on the weld position of the pipe wall.

11. The control operation method according to claim 10, characterized in that: Step S2 specifically includes: The inclination data collected by the gravity sensor is processed by the vehicle posture control module of the control system to generate a wheel group coordinated compensation instruction; The vehicle body posture control module and the wheel group drive control module of the control system respectively plan and process the front working condition data collected by the first visual sensor and the rear working condition data collected by the second visual sensor to generate a speed and differential control instruction, wherein the speed and differential control instruction and the wheel group coordinated compensation instruction constitute a first control instruction; The weld seam image collected by the third visual sensor is processed by the image processing weld seam tracking module and the adaptive positioning module of the control system to generate speed and image position coordinate feedback integration instructions; The weld image is received by the posture controller of the control system to generate a joint motion instruction including path planning and force control compensation. The speed and image position coordinate feedback integration instruction and the joint motion instruction constitute the second control instruction.

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