Synchronous control device and system for detection robot in pipeline

Abstract

The invention provides a synchronous control device and system for a detection robot in a pipeline, and the device comprises a robot body, an angle sensor, a motor module, a communication module, a control mainboard, and a control end. The angle sensor is arranged at the top of the robot body, the control mainboard is arranged in the robot body, and the motor modules are arranged on the two sides of the robot body correspondingly. The motor module at least comprises a left motor and a right motor, the left motor is arranged on the left side of the robot body, and the right motor is arranged on the right side of the robot body; the control mainboard is used for determining the real-time positions of the left motor and the right motor according to the angle data, determining the angle difference between the left motor and the right motor according to the real-time positions of the left motor and the right motor, and inputting the angle difference as an input quantity into a preset PID controller to calculate the control quantity of the motor speed. The walking speeds of the left and right sides are effectively kept consistent, and the robot is controlled to walk linearly.

Description

Technical Field

[0001] The present invention relates to the field of automation technology, and particularly to a synchronous control device and system for an in-pipe inspection robot. Background Art

[0002] The background of a pipeline robot moving in a straight line usually involves inspection, cleaning, or maintenance tasks in a narrow and enclosed pipeline system. Due to the special nature of the pipeline environment, the robot needs to have a high degree of stability and precise straight-line traveling ability to ensure efficient and accurate task completion. In such application scenarios, the stability and straightness of the robot's movement are crucial. Especially in long pipelines, even a slight deviation may cause problems such as missed inspection areas and inability to return. At the same time, straight-line traveling can also reduce frictional losses, extend battery usage time, and ensure the robot's endurance. In addition, precise straight-line walking also facilitates the acquisition of stable data by image sensors and other detection devices, providing a reliable basis for subsequent analysis. Summary of the Invention

[0003] The object of the present invention is to propose a synchronous control device and system for an in-pipe inspection robot to solve the technical problem of how to achieve synchronous control of an in-pipe inspection robot.

[0004] On the one hand, a synchronous control device for an in-pipe inspection robot is provided, including:

[0005] A robot body, an angle sensor, a motor module, a communication module, a control main board, and a control terminal; the angle sensor is arranged on the top of the robot body, the control main board is arranged inside the robot body, and the motor module is respectively arranged on both sides of the robot body;

[0006] The motor module at least includes a left motor and a right motor, the left motor is arranged on the left side of the robot body, and the right motor is arranged on the right side of the robot body;

[0007] The angle sensor is used to collect the angle data of the left motor and the right motor in real time; the control main board is used to determine the real-time positions of the left motor and the right motor according to the received angle data, determine the angle difference between the two according to the real-time positions of the left motor and the right motor, and input the angle difference as an input quantity into a preset PID controller to calculate the control quantity of the motor speed in real time; the motor module is used to control the left motor and the right motor to rotate in real time according to the received control quantity.

[0008] Preferably, it further includes a communication module and a control terminal; the communication module is arranged at the tail of the robot body, and the control terminal is communicatively connected to the control main board through the communication module; the communication module is used for data transmission between the control terminal and the control main board, and the control terminal is used to output corresponding control instructions to the control main board and collect the status information output by the robot body and the image information collected in real time according to the real-time reception.

[0009] Preferably, the control main board is specifically configured to use the product of the number of counted turns of the left motor and a preset calculation coefficient plus the current angle value as the real-time position of the left motor.

[0010] Preferably, the control main board is specifically configured to use the product of the number of counted turns of the right motor and a preset calculation coefficient plus the current angle value as the real-time position of the right motor.

[0011] Preferably, it further includes collecting the angle value of the motor at regular intervals within a preset sampling period;

[0012] When the difference between the angle value at the previous moment and the angle value at the next moment is greater than a preset positive angle threshold, the number of counted turns is incremented by one;

[0013] When the difference between the angle value at the previous moment and the angle value at the next moment is less than a preset negative angle threshold, the number of counted turns is decremented by one.

[0014] Preferably, the PID controller calculates the control amount of the motor speed according to the following formula,

[0015]

[0016] where e(t) is the error, u(t) is the control amount, K p is the proportional coefficient, K i is the integral coefficient, K d is the differential coefficient, d is the error change rate, and t is the time coefficient.

[0017] Preferably, it further includes calculating the error according to the following formula,

[0018] e(t) = r(t) - y(t)

[0019] where r(t) is the target value and y(t) is the actual value.

[0020] On the other hand, a synchronous control system for a pipeline inspection robot is also provided, and the pipeline inspection robot is synchronously controlled by the synchronous control device for the pipeline inspection robot.

[0021] In summary, implementing the embodiments of the present invention has the following beneficial effects:

[0022] The synchronous control device and system for an in-pipe inspection robot provided by the present invention realize the synchronous control of the left and right motors of the in-pipe inspection robot, effectively keeping the walking speeds on both sides consistent and controlling the robot to walk in a straight line. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, the drawings in the following description are only some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, obtaining other drawings based on these drawings still belongs to the scope of the present invention.

[0024] Figure 1 It is a schematic diagram of a synchronous control device for an in-pipe inspection robot in an embodiment of the present invention.

[0025] Figure 2 It is a schematic diagram of a synchronous control device for an in-pipe inspection robot in an embodiment of the present invention. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0026] To make the objectives, technical solutions, and advantages of the present invention clearer, the following will further describe the present invention in detail with reference to the drawings.

[0027] As Figure 1 and Figure 2 shown, it is a schematic diagram of an embodiment of a synchronous control device for an in-pipe inspection robot provided by the present invention. In this embodiment, it includes:

[0028] Robot body 1, angle sensor, motor module, communication module 4, control main board 5 and control terminal; the angle sensor is arranged on the top of the robot body 1, the control main board 5 is arranged inside the robot body 1, and the motor module is respectively arranged on both sides of the robot body 1; the motor module at least includes a left motor 2 and a right motor 3, the left motor 2 is arranged on the left side of the robot body 1, and the right motor 3 is arranged on the right side of the robot body 1; the angle sensor is used to collect the angle data of the left motor 2 and the right motor 3 in real time; the control main board 5 is used to determine the real-time positions of the left motor 2 and the right motor 3 according to the received angle data, and determine the angle difference between the two according to the real-time positions of the left motor 2 and the right motor 3, and use this angle difference as an input quantity to input a preset PID controller to calculate the control quantity of the motor speed in real time; the motor module is used to control the left motor 2 and the right motor 3 to rotate in real time according to the received control quantity. After power-on, each module starts to work, the system starts to run, and the high-precision real-time system starts to work after obtaining the real-time time through the communication module 4, and starts to time the system based on a 144M clock source.

[0029] In a specific embodiment, it further includes a communication module 4 and a control terminal; the communication module 4 is arranged at the tail of the robot body 1, and the control terminal is communicatively connected to the control main board 5 through the communication module 4; the communication module 4 is used for data transmission between the control terminal and the control main board 5, and the control terminal is used to output corresponding control instructions to the control main board 5, and collect the state information output by the robot body 1 in real time and the real-time collected image information.

[0030] In one embodiment, the control main board 5 is specifically used to use the sum of the product of the number of counting turns of the left motor 2 and a preset calculation coefficient and the current angle value as the real-time position of the left motor 2. The control main board 5 is specifically used to use the sum of the product of the number of counting turns of the right motor 3 and a preset calculation coefficient and the current angle value as the real-time position of the right motor 3. The angle data is collected through a high-precision angle sensor module, and its value range is 0-8192. The real-time position of the motor is equal to the number of counting turns * 8192 + the current angle of the angle sensor.

[0031] When determining the number of counted rotations, the angular values of the motor are collected at regular intervals within a preset sampling period; when the difference between the angular value at the previous moment and the angular value at the next moment is greater than the preset positive angular threshold, the number of counted rotations is incremented by one; when the difference between the angular value at the previous moment and the angular value at the next moment is less than the preset negative angular threshold, the number of counted rotations is decremented by one. When the sampling period is 10 ms, the number of counted rotations is compared with the difference between the previous and subsequent angles. If the difference is greater than 4096, one full rotation is added; if it is less than -4096, one full rotation is subtracted. Finally, the position differences of the left motor 2 and the right motor 3 are used as the inputs of the real-time dual-motor synchronization system, and the control quantity of the motor speed is calculated in real time through a PID controller.

[0032] In one embodiment, the PID controller calculates the current error and outputs the control quantity by separately considering the proportional (P) part of the error, the integral (I) of the error, and the derivative (D) of the error change rate, so that the controlled object (such as a motor, temperature, pressure, etc.) reaches the target value. The PID controller calculates the control quantity of the motor speed according to the following formula:

[0033]

[0034] where e(t) is the error, that is, the difference between the target value r(t) and the actual value y(t), u(t) is the control quantity, which is the control output (such as torque, voltage, flow rate, etc.), K p is the proportionality coefficient, which determines the direct response degree of the controller to the error, K i is the integral coefficient, which is used to accumulate past errors and improve the steady-state accuracy, K d is the derivative coefficient, which is used to predict the error change and improve the dynamic response, d is the error change rate, and t is the time coefficient. It should be noted that in this embodiment, two-level closed-loop control is usually adopted: the position loop and the speed loop. Position loop (outer loop): Calculate the target speed based on the error between the target position and the current motor position. Speed loop (inner loop): Calculate and output the final torque to the motor based on the error between the target speed and the current speed.

[0035] The error is calculated according to the following formula:

[0036] e(t) = r(t) - y(t)

[0037] where r(t) is the target value and y(t) is the actual value.

[0038] An embodiment of the present invention further provides a synchronization control system for an in-pipe inspection robot, and the in-pipe inspection robot is synchronously controlled by the synchronization control device for the in-pipe inspection robot.

[0039] It should be noted that the system described in the above embodiments corresponds to the device described in the above embodiments. Therefore, for the parts not detailed in the system described in the above embodiments, reference can be made to the content of the device described in the above embodiments, and details will not be repeated here.

[0040] In summary, implementing the embodiments of the present invention has the following beneficial effects:

[0041] The synchronization control device and system for the in-pipe inspection robot provided by the present invention realize the synchronization control of the left and right motors of the in-pipe inspection robot, effectively keeping the walking speeds on both sides consistent and controlling the robot to walk in a straight line.

[0042] The above-disclosed are only the preferred embodiments of the present invention. Of course, the scope of rights of the present invention cannot be limited thereby. Therefore, equivalent changes made according to the claims of the present invention still fall within the scope covered by the present invention.

Claims

1. A synchronous control device for an in-pipe inspection robot, characterized in that, Including: A robot body, an angle sensor, a motor module, a communication module, a control main board and a control terminal; the angle sensor is arranged on the top of the robot body, the control main board is arranged inside the robot body, and the motor module is respectively arranged on both sides of the robot body; The motor module at least includes a left motor and a right motor, the left motor is arranged on the left side of the robot body, and the right motor is arranged on the right side of the robot body; The angle sensor is used to collect the angle data of the left motor and the right motor in real time; the control main board is used to determine the real-time positions of the left motor and the right motor according to the received angle data, and determine the angle difference between the two according to the real-time positions of the left motor and the right motor, and use this angle difference as an input quantity to input a preset PID controller to calculate the control quantity of the motor speed in real time; the motor module is used to control the left motor and the right motor to rotate in real time according to the received control quantity.

2. The device according to claim 1, characterized in that It further includes a communication module and a control terminal; the communication module is arranged at the tail of the robot body, and the control terminal is communicatively connected to the control main board through the communication module; the communication module is used for data transmission between the control terminal and the control main board, and the control terminal is used to output corresponding control instructions to the control main board and receive and collect the state information output by the robot body in real time and the image information collected in real time.

3. The device according to claim 2, characterized in that, Specifically, the control main board is used to take the sum of the product of the number of counting turns of the left motor and a preset calculation coefficient and the current angle value as the real-time position of the left motor.

4. The device according to claim 2, wherein Specifically, the control main board is used to take the sum of the product of the number of counting turns of the right motor and a preset calculation coefficient and the current angle value as the real-time position of the right motor.

5. The device according to claim 3 or 4, characterized in that It further includes collecting the angle value of the motor at regular intervals within a preset sampling period; When the difference between the angle value at the previous moment and the angle value at the next moment is greater than a preset positive angle threshold, the number of counting turns is incremented by one; When the difference between the angle value at the previous moment and the angle value at the next moment is less than a preset negative angle threshold, the number of counting turns is decremented by one.

6. The device according to claim 5, characterized in that, The PID controller calculates the control quantity of the motor speed according to the following formula Among them, e(t) is the error, u(t) is the control quantity, and K p is the proportionality coefficient, K i is the integral coefficient, K d is the differential coefficient, d is the error change rate, and t is the time coefficient.

7. The device according to claim 6, characterized in that, It further includes calculating the error according to the following formula e(t) = r(t) - y(t) where r(t) is the target value and y(t) is the actual value.

8. A synchronous control system for an in-pipe inspection robot, characterized in that, The in-pipe inspection robot is synchronously controlled by the synchronous control device for in-pipe inspection robot according to any one of claims 1-7.

Images