Water pipeline inspection robot control method, system and terminal

Abstract

The application relates to a water pipeline inspection robot control method and system and a terminal, and relates to the technical field of robot control, which comprises the following steps: acquiring water flow, forward running distance and propeller running speed during inspection; analyzing the water flow during the inspection period to determine a propeller compensation coefficient, a cable compensation amount and a body compensation amount; analyzing the forward running distance, the propeller running speed and the propeller compensation coefficient to determine a robot running distance and a robot running track; analyzing the robot running distance and the robot running track to determine a cable reverse torque and a cable dragging length; analyzing the robot running distance, the cable dragging length, the cable reverse torque, the cable compensation amount and the body compensation amount to determine running compensation parameters; and controlling the preset water pipeline inspection robot to run according to the running compensation parameters. The application has the effect of improving the running stability of the inspection robot.

Description

Technical Field

[0001] This application relates to the technical field of robot control, and in particular to a control method, system and terminal for a water pipeline inspection robot. Background Technology

[0002] The control method for water pipeline inspection robots refers to the process of controlling the robot during its inspection operations to enable it to complete the inspection work.

[0003] In related technologies, when controlling water pipeline inspection robots, a real-time monitoring and closed-loop feedback method is usually adopted. When the water pipeline inspection robot performs inspection tasks, the attitude sensors such as the inertial measurement unit configured on the inspection robot continuously acquire the robot's attitude data. When the inspection robot exhibits abnormal operation conditions such as tilting or yaw, the thrusters are controlled to change power according to the specific abnormal operation conditions of the robot to correct the abnormal attitude of the inspection robot.

[0004] Regarding the aforementioned technologies, when using real-time monitoring and closed-loop feedback to control the inspection robot, compensatory control is required when the robot experiences attitude instability. This leads to frequent adjustments to the robot's attitude to counteract the weight of the control cable during long-distance water pipeline inspections, especially when the control cable is long. Consequently, the robot experiences control lag and operational oscillations during inspections, resulting in low operational stability and room for improvement. Summary of the Invention

[0005] To improve the operational stability of inspection robots, this application provides a control method, system, and terminal for water pipeline inspection robots.

[0006] In a first aspect, this application provides a control method for a water pipeline inspection robot, which adopts the following technical solution: A control method for a water pipeline inspection robot includes: Acquire water flow, forward travel distance, and thruster rotation speed during the inspection period; The water flow rate during the inspection period was analyzed to determine the thruster compensation coefficient, cable compensation amount, and body compensation amount; The forward travel distance, thruster operating speed, and thruster compensation coefficient are analyzed to determine the robot's travel distance and trajectory. The robot's travel distance and trajectory are analyzed to determine the cable reverse torque and cable drag length. The robot's travel distance, cable drag length, cable reverse torque, cable compensation amount, and body compensation amount are analyzed to determine the operating compensation parameters; The operation of the water supply line inspection robot is controlled according to the preset operating compensation parameters.

[0007] Optionally, the steps of analyzing water flow during the inspection period to determine the thruster compensation coefficient, cable compensation amount, and body compensation amount include: Obtain the inner diameter of the water pipeline, the outer diameter of the communication cable, and the robot's flow-facing area; Input the inner diameter of the water pipeline and the water flow rate during the inspection period into the preset water flow velocity model to determine the instantaneous flow velocity during the inspection. Calculate the standard deviation of the instantaneous flow velocity during inspection to determine the standard deviation of the water flow velocity; Calculate the average instantaneous flow velocity during inspection to determine the average water flow velocity; The mean value of water flow velocity is expanded based on the standard deviation of water flow velocity to determine the upper limit of water flow velocity; The upper limit of water flow velocity, the outer diameter of communication cables, and the robot's frontal area are analyzed to determine the thruster compensation coefficient, cable compensation amount, and body compensation amount.

[0008] Optionally, the steps of analyzing the upper limit of water flow velocity, the outer diameter of communication cables, and the robot's frontal area to determine the thruster compensation coefficient, cable compensation amount, and body compensation amount include: The upper limit of water flow velocity, the preset cable resistance coefficient, and the outer diameter of the communication cable are input into the preset axial resistance model to determine the unit cable resistance. The upper limit of water flow velocity, the preset body drag coefficient, and the robot's frontal area are input into the preset bluff body flow model to determine the body's water flow resistance. Obtain the traction arm and resistance arm of the aircraft; Calculate the product of the preset safety factor, unit cable resistance, and machine body traction arm to determine the cable compensation amount; Calculate the product of the safety factor, the water flow resistance of the body, and the resistance lever arm of the body to determine the compensation amount of the body; The upper limit of water flow velocity and the preset maximum thruster velocity are input into the preset velocity compensation model to determine the thruster compensation coefficient.

[0009] Optionally, the steps of analyzing the forward travel distance, thruster operating speed, and thruster compensation coefficient to determine the robot's travel distance and trajectory include: The propeller operating speed, the preset control cycle duration, the preset speed conversion coefficient, and the propeller compensation coefficient are input into the preset body travel model to determine the travel distance in this cycle. Obtain the visual distance correction amount; The sum of the visual distance correction, the current cycle running distance, and the forward running distance is calculated to determine the robot's travel distance; Obtain forward global coordinates, heading angle, and pitch angle; Input the forward global coordinates, heading angle, pitch angle, and current cycle distance into the preset trajectory model to determine the robot's real-time coordinates; The forward global coordinates and the robot's real-time coordinates are integrated to determine the robot's trajectory.

[0010] Optionally, the steps of analyzing the robot's travel distance and trajectory to determine the cable reverse torque and cable drag length include: Calculate the sum of the robot's travel distance and the preset reserved cable length to determine the cable drag length; Obtain the unit tensile force of the cable; Calculate the product of the unit tensile force of the cable and the cable drag length to determine the tensile force of the base cable; Data is extracted from the robot's trajectory to determine the real-time trajectory coordinates and the coordinates of the preceding trajectory; Calculate the direction vectors of the real-time trajectory coordinates and the forward trajectory coordinates to determine the direction vector of the tension force; The tension direction vector is transformed into a coordinate system based on a preset attitude transformation matrix to determine the tension direction of the aircraft. Calculate the product of the tension in the base cable and the tension in the machine body to determine the reverse torque of the cable.

[0011] Optionally, the steps to analyze the robot's travel distance, cable drag length, cable reverse torque, cable compensation amount, and body compensation amount to determine the operating compensation parameters include: Obtain the cable force arm and global parameters of the pipe; Calculate the cross product of the cable's lever arm and the cable's reverse torque to determine the cable's initial torque; Based on the robot's travel distance, global pipeline parameters are extracted to determine the current segment flow vector, the forward segment flow vector, the current segment running length, and the forward segment cable length. Calculate the product of the forward section cable length, the forward section water flow vector, and the cable compensation amount to determine the forward section resistance torque; Calculate the product of the current segment's running length, the current segment's water flow vector, and the cable compensation amount to determine the current segment's resistance torque; The product of the computer body compensation amount and the current segment water flow vector is used to determine the body drag torque; The vector sum of the computer body resistance torque, the current segment resistance torque, the forward segment resistance torque, and the initial torque of the cable is used to determine the total torque to be compensated. The total torque to be compensated is analyzed to determine the operating compensation parameters.

[0012] Optionally, the steps of analyzing the total torque to be compensated to determine the operating compensation parameters include: The total torque to be compensated is decomposed to determine the axial compensation torque, lateral compensation torque, and vertical compensation torque; Calculate the product of the axial compensation torque and the preset axial conversion coefficient to determine the axial compensation power; Calculate the product of the lateral compensation torque and the preset lateral conversion coefficient to determine the lateral compensation power; Calculate the product of the vertical compensation torque and the preset vertical conversion coefficient to determine the vertical compensation power; The axial compensation power, lateral compensation power, and vertical compensation power are integrated to determine the operating compensation parameters.

[0013] Secondly, this application provides a control system for a water pipeline inspection robot, which adopts the following technical solution: A water pipeline inspection robot control system includes: The acquisition module is used to acquire water flow, forward travel distance, and thruster rotation speed during the inspection period; A memory for storing a program for a water pipeline inspection robot control method as described in any of the preceding claims; The processor and the program in the memory can be loaded and executed by the processor to implement a water pipeline inspection robot control method as described in any of the above.

[0014] Thirdly, this application provides a smart terminal, which adopts the following technical solution: A smart terminal includes a memory and a processor, wherein the memory stores a computer program that can be loaded by the processor and executed as described in any of the preceding claims for a water pipeline inspection robot control method.

[0015] In summary, this application includes at least one of the following beneficial technical effects: 1. By acquiring the water flow rate, forward travel distance, and thruster speed during the inspection period, the water flow rate during the inspection period is analyzed to determine the thruster compensation coefficient, cable compensation amount, and body compensation amount. The forward travel distance, thruster speed, and thruster compensation coefficient are analyzed to determine the robot travel distance and robot trajectory. The robot travel distance and robot trajectory are analyzed to determine the cable reverse torque and cable drag length. The robot travel distance, cable drag length, cable reverse torque, cable compensation amount, and body compensation amount are analyzed to determine the operating compensation parameters. Based on the operating compensation parameters, the preset operation of the water supply line inspection robot is controlled, thereby improving the operational stability of the water supply line inspection robot. 2. By inputting the upper limit of water flow velocity, the preset cable resistance coefficient, and the outer diameter of the communication cable into the preset axial resistance model, the unit cable resistance is determined. By inputting the upper limit of water flow velocity, the preset body resistance coefficient, and the robot's frontal area into the preset bluff body flow around model, the body water flow resistance is determined. The body traction arm and body resistance arm are obtained. The preset safety factor, the product of the unit cable resistance and the body traction arm are calculated to determine the cable compensation amount. The product of the safety factor, the body water flow resistance, and the body resistance arm is calculated to determine the body compensation amount. The upper limit of water flow velocity and the preset maximum thruster speed are input into the preset speed compensation model to determine the thruster compensation coefficient, thereby improving the control accuracy of the water supply line inspection robot. 3. By calculating the sum of the robot's travel distance and the preset reserved cable length, the cable drag length is determined. The unit tension of the cable is obtained, and the product of the unit tension and the cable drag length is calculated to determine the basic cable tension. Data is extracted from the robot's running trajectory to determine the real-time trajectory coordinates and the preceding trajectory coordinates. The direction vectors of the real-time trajectory coordinates and the forward trajectory coordinates are calculated to determine the tension direction vector. The coordinate system is transformed according to the preset attitude transformation matrix to determine the body tension direction. The product of the basic cable tension and the body tension direction is calculated to determine the cable reverse torque, thereby improving the calculation efficiency and accuracy of the communication cable torque. Attached Figure Description

[0016] Figure 1 This is a flowchart of a water pipeline inspection robot control method according to an embodiment of this application.

[0017] Figure 2 This is a flowchart in this application embodiment that analyzes the water flow during the inspection period to determine the thruster compensation coefficient, cable compensation amount, and body compensation amount.

[0018] Figure 3 This is a flowchart illustrating how the upper limit of water flow velocity, the outer diameter of communication cables, and the robot's frontal area are analyzed in this application embodiment to determine the thruster compensation coefficient, cable compensation amount, and body compensation amount.

[0019] Figure 4 This is a flowchart illustrating how the forward travel distance, thruster rotation speed, and thruster compensation coefficient are analyzed in this application embodiment to determine the robot's travel distance and trajectory.

[0020] Figure 5 This is a flowchart illustrating the analysis of robot travel distance and robot trajectory in this application embodiment to determine cable reverse torque and cable drag length.

[0021] Figure 6This is a flowchart illustrating how the robot travel distance, cable drag length, cable reverse torque, cable compensation amount, and body compensation amount are analyzed in this embodiment to determine the operating compensation parameters.

[0022] Figure 7 This is a flowchart illustrating the analysis of the total torque to be compensated in this embodiment of the application to determine the operating compensation parameters. Detailed Implementation

[0023] To make the purpose, technical solution, and advantages of this application clearer, the following description is provided in conjunction with the appendix. Figures 1 to 7 The present application will be further described in detail below with reference to embodiments. It should be understood that the specific embodiments described herein are for illustrative purposes only and are not intended to limit the scope of the application.

[0024] This application discloses a control method, system, and terminal for a water pipeline inspection robot. Specifically, it discloses a processing terminal that acquires water flow rate, forward travel distance, and thruster rotation speed during the inspection period. The water flow rate during the inspection period is analyzed to determine the thruster compensation coefficient, cable compensation amount, and body compensation amount. The forward travel distance, thruster rotation speed, and thruster compensation coefficient are analyzed to determine the robot's travel distance and trajectory. The robot's travel distance and trajectory are analyzed to determine the cable reverse torque and cable drag length. The robot's travel distance, cable drag length, cable reverse torque, cable compensation amount, and body compensation amount are analyzed to determine the operating compensation parameters. Based on the operating compensation parameters, the preset operation of the water pipeline inspection robot is controlled, thereby improving the operational stability of the water pipeline inspection robot.

[0025] Reference Figure 1 This application discloses a control method for a water pipeline inspection robot, including the following steps: Step S100: Obtain water flow rate, forward running distance, and thruster operating speed during the inspection period.

[0026] Among them, the water flow rate during the inspection period refers to the water flow rate data of the water pipeline during the inspection period of the water pipeline inspection robot in the past three months. It is determined by the processing terminal by retrieving the water flow rate data of the water pipeline to be inspected during the inspection period in the past three months.

[0027] The forward running distance refers to the total running distance of the water supply line inspection robot within the total forward running time of the current control cycle. It is determined by the processing terminal by accumulating the running distance in each control cycle starting from the start of the water supply line inspection robot's operation. The calculation process is the same as the calculation process of the robot's travel distance in step S102. After the current control cycle ends, the robot's travel distance is updated to the forward running distance.

[0028] The operating speed of the thruster refers to the blade speed of the thruster during the current control cycle, which is determined by the processing terminal by retrieving the control parameters of the thruster during this cycle.

[0029] Step S101: Analyze the water flow during the inspection period to determine the thruster compensation coefficient, cable compensation amount, and body compensation amount.

[0030] The thruster compensation coefficient refers to the correction factor used to correct thrust attenuation in the water pipeline. The cable compensation amount refers to the magnitude of the water resistance experienced by a unit length of communication cable in the water pipeline, which acts on the inspection robot. The body compensation amount refers to the magnitude of the water resistance experienced by the water pipeline inspection robot. All the above data are determined by the processing terminal through analysis of water flow during the inspection period; the specific analysis steps are as follows. Figure 2 The steps in the process.

[0031] Step S102: Analyze the forward travel distance, thruster operating speed, and thruster compensation coefficient to determine the robot's travel distance and robot trajectory.

[0032] The robot's travel distance refers to the distance the water line inspection robot travels within the water pipeline after the current control cycle ends. The robot's trajectory refers to the set of global three-dimensional coordinates of the water line inspection robot after each control cycle ends. Both are determined by the processing terminal through analysis of the forward travel distance, thruster rotation speed, and thruster compensation coefficient. Specific analysis steps are detailed below. Figure 4 The steps in the process.

[0033] Step S103: Analyze the robot's travel distance and trajectory to determine the cable reverse torque and cable drag length.

[0034] The cable reverse torque refers to the reverse pulling torque exerted by the communication cable on the water supply line inspection robot as it moves forward to perform inspection work during the next control cycle. The cable dragging length refers to the length of the communication cable that the water supply line inspection robot has dragged into the water supply pipeline at the end of the current control cycle. Both are determined by the processing terminal through analysis of the robot's travel distance and trajectory; the specific analysis steps are described in [reference needed]. Figure 5 The steps in the process.

[0035] Step S104: Analyze the robot's travel distance, cable drag length, cable reverse torque, cable compensation amount, and machine body compensation amount to determine the operating compensation parameters.

[0036] Among them, the operating compensation parameters refer to the additional control parameters applied to the original control parameters to counteract the water resistance in the water pipeline and the reverse torque of the communication cable. These parameters include axial compensation power, lateral compensation power, and vertical compensation power, which are determined by the processing terminal through analysis of the robot's travel distance, cable drag length, cable reverse torque, cable compensation amount, and robot body compensation amount. Specific analysis steps are detailed in [reference needed]. Figure 6 The steps in the process.

[0037] Step S105: Control the operation of the preset water supply line inspection robot according to the operation compensation parameters.

[0038] The water supply line inspection robot features a streamlined, low-resistance cabin as its main body. The main control cabin is integrated within the cabin, and two sets of quick-release battery compartments are symmetrically located below it. These battery compartments contain high-energy-density battery cells and support dual-battery switching, thereby improving the robot's endurance. The cabin is equipped with four forward-axis thrusters, two lateral thrusters, and two vertical thrusters, forming an eight-thrust propulsion structure. This allows the robot's control process to be broken down into vector control processes, improving control accuracy and providing sufficient thrust while maintaining stable lateral and vertical attitude correction. Camera units and lighting modules are integrated at the front, rear, and circumferential positions of the cabin for adaptive collaborative control via grayscale feedback. To avoid overexposure or blurry images, precise imaging is achieved by comparing images before and after the control cycle, thereby capturing the pipe wall characteristics of the water pipeline and calibrating the actual operating position of the water pipeline inspection robot. The top of the water pipeline inspection robot is equipped with lifting rings for hoisting and transporting it during deployment and retrieval. Four circumferentially distributed tail lifting rings with arc-shaped guide rings form a four-ring constraint structure. A four-branch connector divides the end of the communication cable into four branches, each fixedly connected to one of the four circumferentially evenly distributed lifting rings. This improves the tensile stability of the communication cable, enhances the operational stability of the water pipeline inspection robot, reduces the possibility of the communication cable deviating from the robot's rear axis, and prevents lateral pulling of the communication cable, thus ensuring the operational stability of the water pipeline inspection robot and the signal transmission stability of the communication cable.

[0039] After determining the operating compensation parameters, operating compensation parameters are added to the basic operating control parameters of the inspection robot to compensate and adjust the power of the axial thruster, lateral thruster and vertical thruster, thereby improving the operating stability of the water conveyance line inspection robot.

[0040] Reference Figure 2The steps for analyzing water flow during the inspection period to determine the thruster compensation coefficient, cable compensation amount, and machine body compensation amount include: Step S200: Obtain the inner diameter of the water supply pipeline, the outer diameter of the communication cable, and the robot's flow-facing area.

[0041] The inner diameter of the water pipeline refers to the inner diameter of the water pipeline, which is determined by the processing terminal by retrieving the water pipeline parameters stored in the system.

[0042] The outer diameter of the communication cable refers to the external diameter of the communication cable of the water supply line inspection robot, which is determined by the processing terminal by retrieving the communication cable parameters stored in the system.

[0043] The robot's flow-facing area refers to the area facing the water flow when the water supply line inspection robot is operating in the water supply pipeline. It is determined by the processing terminal by retrieving the robot's flow-facing area calibrated in the system. The robot's flow-facing area is determined by the operator by modeling the water supply line inspection robot based on the design parameters of the water supply line inspection robot, then projecting the robot model onto its contour perpendicular to the water flow direction, and finally determining the area of ​​the projected area through geometric mapping calculations, which is the robot's flow-facing area.

[0044] Step S201: Input the inner diameter of the water pipeline and the water flow rate during the inspection period into the preset water flow velocity model to determine the instantaneous flow velocity during the inspection.

[0045] The water flow velocity model refers to a formula model that calculates the quotient of the water flow rate per unit time in the water conveyance line and the cross-sectional area of ​​the pipe, ultimately yielding the water flow velocity corresponding to the water flow rate per unit time. The specific model formula is as follows: .

[0046] In the formula, To inspect the instantaneous flow rate, Water flow rate during the inspection period. This refers to the inner diameter of the water pipeline.

[0047] The instantaneous flow velocity during inspection refers to the flow velocity corresponding to the water flow rate during the inspection period. It is calculated and determined by the treatment terminal by inputting the inner diameter of the water pipeline and the water flow rate during the inspection period into the flow velocity model.

[0048] Step S202: Calculate the standard deviation of the instantaneous flow velocity during inspection to determine the standard deviation of the water flow velocity.

[0049] Among them, the standard deviation of water flow velocity refers to the standard deviation of water flow velocity, which is determined by the treatment terminal by calculating the standard deviation of the instantaneous flow velocity during inspection.

[0050] Step S203: Calculate the average value of the instantaneous flow velocity during the inspection to determine the average water flow velocity.

[0051] The average water flow velocity refers to the average value of the instantaneous flow velocity during inspection, which is determined by the treatment terminal by calculating the average value of the instantaneous flow velocity during inspection.

[0052] Step S204: Expand the mean value of water flow velocity based on the standard deviation of water flow velocity to determine the upper limit of water flow velocity.

[0053] The upper limit of water flow velocity refers to the general upper limit of water flow velocity in the water transmission pipeline, which is determined by the treatment terminal by calculating the sum of the average water flow velocity and 1.5 times the standard deviation of water flow velocity.

[0054] Step S205: Analyze the upper limit of water flow velocity, the outer diameter of communication cable and the robot's frontal area to determine the thruster compensation coefficient, cable compensation amount and body compensation amount.

[0055] The thruster compensation coefficient is consistent with that in step S101. The cable compensation amount is consistent with that in step S101. The body compensation amount is consistent with that in step S101. All the above data are determined by the processing terminal through analysis of the upper limit of water flow velocity, the outer diameter of the communication cable, and the robot's frontal area. Specific analysis steps are detailed below. Figure 3 The steps in the process.

[0056] Reference Figure 3 The steps for determining the thruster compensation coefficient, cable compensation amount, and body compensation amount include analyzing the upper limit of water flow velocity, the outer diameter of communication cables, and the robot's frontal area. Step S300: Input the upper limit of water flow velocity, the preset cable resistance coefficient and the outer diameter of the communication cable into the preset axial resistance model to determine the unit cable resistance.

[0057] The cable resistance coefficient refers to the dimensionless correction coefficient of the axial cable resistance experienced by the communication cable in water. Operators conduct axial traction tests on the communication cable by setting up a test pipe section with the same inner diameter and roughness as the water supply pipeline. Then, based on the water flow range of the water supply pipeline during the inspection period, a gradient flow velocity is set. Under this gradient flow velocity, the communication cable is pulled at a uniform speed consistent with the inspection robot's speed. The total tension is determined by measuring with a tension sensor. Multiple traction tests are conducted to obtain the average value of the total tension. This average value is then subtracted from the sum of static resistances obtained under still water flow velocity. Finally, the maximum value under all gradient flow velocities is taken as the final traction resistance. The resistance coefficient is then calculated back using the axial fluid resistance formula based on the flow velocity corresponding to the final traction resistance.

[0058] The axial resistance model assumes a parallel relationship between the communication cable and the water pipeline. Under this parallel relationship, the resistance of the water flow to the communication cable is considered axial resistance. Therefore, a resistance calculation model is constructed using the effective frictional contact area between the cable and the water flow per unit length, with the unit surface area of ​​the cable as the final formula for calculating the unit cable resistance. The specific formula is as follows: .

[0059] In the formula, The resistance coefficient of the cable. The density of water is constant and is calibrated by the operator in the system. The resistance coefficient of the cable. The outer diameter of the communication cable. This represents the upper limit of water flow velocity.

[0060] Unit cable resistance refers to the axial water flow resistance experienced by a unit length of communication cable under the upper limit of water flow velocity. It is determined by the processing terminal by inputting the upper limit of water flow velocity, cable resistance coefficient and outer diameter of communication cable into the axial resistance model.

[0061] Step S301: Input the upper limit of water flow velocity, the preset body drag coefficient and the robot's frontal area into the preset bluff body flow model to determine the body's water flow resistance.

[0062] The body resistance coefficient refers to the dimensionless correction coefficient of the axial water flow resistance experienced by the water supply line inspection robot in the water supply pipeline. Operators conduct axial traction experiments on the water supply line inspection robot by setting up a test pipe section with the same inner diameter and roughness as the water supply pipeline. Then, a gradient flow velocity is set according to the lower limit of the water flow range of the water supply pipeline during the inspection period. Under the gradient flow velocity, the water supply line inspection robot is pulled at a uniform speed consistent with the inspection speed of the robot. The total tension is determined by measuring the tension sensor. Multiple traction experiments are conducted to obtain the average value of the total tension. This average value is then subtracted from the sum of static resistances obtained under the still water flow velocity. Finally, the maximum value under all gradient flow velocities is taken as the final traction resistance. The resistance coefficient is then determined by back-calculating the axial fluid resistance formula based on the flow velocity corresponding to the final traction resistance.

[0063] The bluff body flow model, based on the principle of pressure difference drag, considers the frontal resistance exerted by the water flow on a water conveyance line inspection robot during its operation against the current. Therefore, the robot's surface area facing the current is used as the resistance contact area to calculate and determine the magnitude of the resistance caused by the water flow. The specific model formula is as follows: .

[0064] In the formula, For the water flow resistance of the machine body, The density of water is constant and is calibrated by the operator in the system. The drag coefficient of the machine body. For the robot's frontal area, This represents the upper limit of water flow velocity.

[0065] The body water flow resistance refers to the axial water flow resistance experienced by the water supply line inspection robot under the upper limit of water flow velocity. It is determined by the processing terminal by inputting the upper limit of water flow velocity, the body resistance coefficient and the robot's frontal area into the axial resistance model.

[0066] Step S302: Obtain the traction arm and resistance arm of the machine body.

[0067] Among them, the traction arm of the robot body refers to the three-dimensional vector pointing from the robot's center of mass to the connection position between the communication cable and the robot body. The processing terminal first locates the center of the four circumferentially arranged tail rings as the coordinates of the traction force at the lifting position of the communication cable. Then, it extracts the center of mass coordinates of the water supply line inspection robot in the body coordinate system. The three-dimensional vector between the center of mass coordinates of the water supply line inspection robot and the traction force coordinates of the rings is calculated with the robot's center of mass coordinates as the starting point.

[0068] The drag arm of the robot refers to the three-dimensional vector pointing from the robot's center of mass to the center of the force on the front of the flow. It is determined by the processing terminal by first extracting the coordinates of the center point of the water conveyance inspection robot's position on the front of the flow and the coordinates of the robot's center of mass, and then calculating the three-dimensional vector between the coordinate points using the coordinates of the center of mass as the starting point.

[0069] Step S303: Calculate the product of the preset safety factor, unit cable resistance, and machine body traction arm to determine the cable compensation amount.

[0070] The safety factor is a safety adjustment factor used to prevent overshooting of the water line inspection robot. It is between 0.6 and 0.9. The operator first conducts a pre-experiment with the lower limit of the range as the initial value, then sets a full-load test with the maximum water flow velocity and the maximum cable pulling length that have occurred during the inspection period, and then gradually increases the initial value to conduct pre-experiments under the same working conditions. Finally, the safety factor that determines the most stable operation of the water line inspection robot without overshoot is the safety factor.

[0071] The cable compensation amount is consistent with the cable compensation amount in step S205, and is determined by the processing terminal by calculating the product of the safety factor, the unit cable resistance, and the machine body traction arm.

[0072] Step S304: Calculate the product of the safety factor, the water flow resistance of the machine body, and the resistance lever arm of the machine body to determine the compensation amount of the machine body.

[0073] The compensation amount of the machine body is consistent with the compensation amount of the machine body in step S205, and is determined by the processing terminal by calculating the product of the safety factor, the water flow resistance of the machine body, and the resistance arm of the machine body.

[0074] Step S305: Input the upper limit of water flow velocity and the preset maximum thruster velocity into the preset velocity compensation model to determine the thruster compensation coefficient.

[0075] Among them, the maximum speed of the thruster refers to the maximum operating speed of the water supply line inspection robot under ideal no-load conditions of undisturbed still water flow and no cable dragging. It is determined by the operator by first setting the ideal no-load conditions and then controlling the thruster to run at full load.

[0076] The velocity compensation model is a calculation model for the water flow thrust attenuation coefficient of the thruster. This model is based on the positive correlation between the thrust of the water line inspection robot's thruster and the relative velocity of the robot. The water flow velocity in the pipeline will offset the thruster's impact on the robot's propulsion speed. The model uses the ratio of the upper limit of the water flow velocity to the maximum thruster velocity to represent the degree of attenuation of the thruster's propulsion speed. Subtracting this attenuation degree from 1 yields the relative retention of the thruster's propulsion efficiency under the worst-case scenario. The specific model formula is as follows: .

[0077] In the formula, For the thruster compensation coefficient, This is the upper limit of water flow velocity. This is the maximum speed of the thruster.

[0078] The thruster compensation coefficient is consistent with the thruster compensation coefficient in step S205, and is determined by the processing terminal by inputting the upper limit of water flow velocity and the maximum thruster speed into the velocity compensation model.

[0079] Reference Figure 4 The steps for determining the robot's travel distance and trajectory include analyzing the forward travel distance, thruster operating speed, and thruster compensation coefficient. Step S400: Input the thruster operating speed, the preset control cycle duration, the preset speed conversion coefficient, and the thruster compensation coefficient into the preset body travel model to determine the travel distance for this cycle.

[0080] The aircraft's movement model refers to a formula model that first corrects the thruster speed based on the thruster compensation coefficient, then converts the corrected thruster speed into axial running speed, and finally calculates the product of speed and time to determine the running distance within this cycle. The specific model formula is as follows: .

[0081] In the formula, This is the distance traveled during this cycle. For the thruster compensation coefficient, The speed conversion coefficient, This represents the average operating speed of the thruster. To control the cycle duration.

[0082] The current cycle running distance refers to the incremental running distance of the water line inspection robot within the current cycle. It is calculated and determined by the processing terminal by inputting the thruster running speed, the preset control cycle duration, the preset speed conversion coefficient, and the thruster compensation coefficient into the body's travel model.

[0083] The speed conversion coefficient refers to the conversion coefficient between the average speed of the axial thruster of the water conveyance line inspection robot and the axial travel speed of the water conveyance line inspection robot. It is determined by the operator through linear fitting of the average speed of the axial thruster and the axial travel speed of the water conveyance line inspection robot under ideal no-load conditions in still water. The speed conversion coefficient is the coefficient between speed and velocity.

[0084] The control cycle duration refers to the control cycle duration of the water conveyance line inspection robot, which is calibrated by the operator in the system based on the control parameters of the water conveyance line inspection robot.

[0085] Step S401: Obtain the visual distance correction amount.

[0086] The visual distance correction refers to the calibration amount used to calibrate the operation detection results based on the real-time pipe wall images obtained from the visual camera. The processing terminal first retrieves the real-time detection images from the visual camera at the beginning of the current control cycle, and uses image recognition algorithms to analyze the detection images. It captures fixed feature points such as pipe wall welds, flanges, and valves in the images and finds the global coordinate points of the features in the global feature data of the water pipeline. After determining the machine's running distance corresponding to the global coordinate points based on the relative position of the visual camera to the machine and the image distance depth, the increment of the machine's running distance relative to the forward running distance is the visual distance correction amount, thereby improving the positioning accuracy of the water pipeline inspection robot.

[0087] Step S402: Calculate the sum of the visual distance correction, the current cycle running distance, and the forward running distance to determine the robot's travel distance.

[0088] The robot's travel distance is consistent with the robot's travel distance in step S102, and is determined by the processing terminal by calculating the sum of the visual distance correction, the current cycle travel distance, and the forward travel distance.

[0089] Step S403: Obtain forward global coordinates, running heading angle, and running pitch angle.

[0090] Among them, the forward global coordinates refer to the set of global three-dimensional coordinate points of the inspection robot at the end of each control cycle, from the start of the inspection operation of the water conveyance line inspection robot to the start of the current control cycle. The processing terminal determines the three-dimensional coordinate point data by updating and adding it step by step from the start of the inspection operation of the water conveyance line inspection robot at the end of each control cycle. The initial extrapolation coordinate points are calibrated by the operator in the system based on the initial deployment coordinates of the water conveyance line inspection robot. After the end of the current operation cycle, the robot's real-time coordinates are updated and added to the forward global coordinates, thereby improving the positioning accuracy of the inspection trajectory of the water conveyance line inspection robot.

[0091] The operating heading angle refers to the operating heading angle data of the water conveyance inspection robot within the current control cycle, which is determined by the processing terminal by retrieving sensor measurement data from the inertial measurement unit deployed inside the water conveyance inspection robot.

[0092] The operating pitch angle refers to the operating pitch angle data of the water supply line inspection robot within the current control cycle, which is determined by the processing terminal by retrieving the sensor measurement unit of the inertial measurement unit deployed inside the water supply line inspection robot.

[0093] Step S404: Input the forward global coordinates, heading angle, pitch angle, and current cycle distance into the preset trajectory simulation model to determine the robot's real-time coordinates.

[0094] The trajectory extrapolation model refers to using the forward global coordinates as the starting point, the current cycle distance as the global position increment, and then decomposing the global position increment into axial, lateral, and vertical directions using heading and pitch angles. Based on the increments in each direction, the forward global coordinates are extrapolated, ultimately determining the formula model for the forward global coordinates. The specific model formula is as follows: .

[0095] In the formula, Provide the robot's real-time coordinates. Forward global coordinates, To operate the pitch angle, The heading angle is the operating angle.

[0096] The robot's real-time coordinates refer to the global three-dimensional trajectory coordinates of the water conveyance inspection robot after the current control cycle. The processing terminal determines the robot's real-time coordinates by inputting the forward global coordinates, heading angle, pitch angle, and current cycle distance into the trajectory deduction model.

[0097] Step S405: Integrate the forward global coordinates and the robot's real-time coordinates to determine the robot's trajectory.

[0098] The robot's trajectory is consistent with the robot's trajectory in step S102. It is determined by the processing terminal by integrating the forward global coordinates and the robot's real-time coordinates after determining the robot's real-time coordinates.

[0099] Reference Figure 5 The steps for analyzing the robot's travel distance and trajectory to determine the cable reverse torque and cable drag length include: Step S500: Calculate the sum of the robot's travel distance and the preset reserved cable length to determine the cable drag length.

[0100] The reserved cable length refers to the initial communication cable length laid at the water pipeline inspection inlet before the inspection operation, which is determined by the operator in the coefficient according to the initial layout parameters of the communication cable of the water pipeline inspection robot.

[0101] The cable dragging length is consistent with the cable dragging length in step S103, and is determined by the processing terminal by calculating the sum of the robot's travel distance and the reserved cable length.

[0102] Step S501: Obtain the unit tension of the cable.

[0103] Among them, the unit tensile force of the cable refers to the amount of force required to pull a unit length of cable in the water supply pipeline. It is determined by the processing terminal by retrieving the pre-experiment results stored in the system. The pre-experiment is conducted by the operator during the inspection period by setting multiple sets of different pulling speeds in different sections of the water supply pipeline. During the pre-experiment, the total resistance of the cable corresponding to the total length of each cable is taken, and the total resistance of the cable and the cable length are linearly fitted. The slope of the final linear fit is the unit tensile force of the cable.

[0104] Step S502: Calculate the product of the cable unit tension and the cable drag length to determine the base cable tension.

[0105] Among them, the basic cable tension refers to the scalar tension of the cable corresponding to the cable drag length, which is determined by the processing terminal by calculating the product of the cable unit tension and the cable drag length.

[0106] Step S503: Extract data from the robot's running trajectory to determine the real-time trajectory coordinates and the coordinates of the preceding trajectory.

[0107] The real-time trajectory coordinates are consistent with the robot's real-time coordinates in step S404, and are determined by the processing terminal through data extraction of the latest coordinate point data in the robot's running trajectory.

[0108] The preceding trajectory coordinates refer to the three-dimensional coordinates of the points preceding the real-time trajectory coordinates. They are determined by the processing terminal through data extraction of the three-dimensional coordinates of the points preceding the real-time trajectory coordinates in the robot's running trajectory.

[0109] Step S504: Calculate the direction vectors of the real-time trajectory coordinates and the forward trajectory coordinates to determine the direction vector of the tension force.

[0110] Among them, the tension direction vector refers to the direction vector of the tension force generated by the communication cable on the water supply line inspection robot. This direction vector is determined by the connection position between the water supply line inspection robot and the communication cable, pointing towards the communication cable. It is determined by the processing terminal by calculating the direction vector of the real-time trajectory coordinates and the forward trajectory coordinates. Based on the principle that the travel trajectory of the water supply line inspection robot coincides with the trajectory of the communication cable, the direction vector of the cable tension force is determined according to the running coordinates of the water supply line inspection robot, thereby improving the calculation efficiency of the communication cable torque.

[0111] Step S505: Perform coordinate system transformation on the tension direction vector according to the preset attitude transformation matrix to determine the tension direction of the aircraft.

[0112] The attitude transformation matrix refers to the transformation matrix between the global coordinate system of the water pipeline and the body coordinate system of the water pipeline inspection robot. It is determined by the operator by solving the attitude transformation matrix according to the correspondence between the body coordinates of the robot's position and the global coordinates, or by setting the water pipeline inspection robot body to be positively aligned with the global axis of the pipeline and the body attitude angle to be 0, and then activating the zero-position calibration of the inertial measurement unit, which is then automatically calculated by the inertial measurement unit.

[0113] The direction of tension in the robot body refers to the direction vector of the tension in the communication cable in the robot body coordinate system after being transformed by the attitude transformation matrix. That is, the actual direction of the cable tension relative to the robot body, which is determined by the processing terminal by performing coordinate system transformation on the direction vector of tension according to the attitude transformation matrix.

[0114] Step S506: Calculate the product of the tension in the base cable and the tension in the machine body to determine the reverse torque of the cable.

[0115] The reverse torque of the cable is the same as the reverse torque of the cable in step S103, and is determined by the processing terminal by calculating the product of the tension of the base cable and the tension of the machine body.

[0116] Reference Figure 6 The steps to determine the operational compensation parameters by analyzing the robot's travel distance, cable drag length, cable reverse torque, cable compensation amount, and body compensation amount include: Step S600: Obtain the cable force arm and global parameters of the pipe.

[0117] The cable force arm is the same as the machine body traction arm in step S302.

[0118] Global pipeline parameters refer to the global layout parameters of the water transmission pipeline, including the design drawings and specific structural parameter data of the water transmission pipeline, which are determined by the processing terminal by retrieving the global parameter drawings of the water transmission pipeline.

[0119] Step S601: Calculate the cross product of the cable force arm and the cable reverse torque to determine the initial torque of the cable.

[0120] Among them, the initial torque of the cable refers to the tensile torque of the communication cable on the center of mass of the water supply line inspection robot, which is determined by the processing terminal by calculating the cross product of the cable's force arm and the cable's reverse torque.

[0121] Step S602: Extract global parameters of the pipeline based on the robot's travel distance to determine the current segment flow vector, the forward segment flow vector, the current segment running length, and the forward segment cable length.

[0122] The current segment flow vector refers to the flow direction vector of the water in the pipeline segment where the water conveyance inspection robot is currently located. The processing terminal first analyzes the global parameters of the pipeline, divides the water conveyance pipeline into segments based on the bends of the pipeline, and then determines the robot's position in the water conveyance pipeline based on the robot's travel distance and the corresponding three-dimensional global coordinates. After determining the water conveyance pipeline segment where the robot is located, the three-dimensional coordinates of two vertical and lateral parallel pipeline points in the water conveyance pipeline segment are extracted. Using the water flow direction as the coordinate point direction, the direction vector between the two pipeline points is calculated, which is the current segment flow vector.

[0123] The forward flow vector refers to the flow direction vectors corresponding to all pipe segments ahead of the current pipe segment where the water conveyance inspection robot is located. The processing terminal determines the water conveyance pipeline segments that the water conveyance inspection robot has traveled during the forward operation based on the robot's direction of travel after determining the current segment. After determining the water conveyance pipeline segments, the flow direction vectors in each forward pipeline segment are calculated and determined using the same calculation method as the current segment's flow rate.

[0124] The current segment running length refers to the running length of the water supply line inspection robot within the current segment, i.e., the length of the communication cable within the current segment. The processing terminal first calculates the total length of the forward pipeline, then calculates the difference between the robot's travel distance and the total length of the forward pipeline, and finally calibrates the distance difference based on the robot's real-time coordinates corresponding to the robot's travel distance. This process ultimately determines the current segment running length, avoiding excessive deviations in the length calibration results due to deflection of the communication cable in turning segments, thereby improving the accuracy of the tensile torque calculation.

[0125] The forward segment cable length refers to the length of each cable segment in the forward pipeline segment. The processing terminal first calculates the difference between the robot's travel distance and the current segment's running length, then determines the proportion of each pipeline segment in the total pipeline length, and finally calculates the product of the difference between each forward pipeline segment and its running length to determine the communication cable length in each forward pipeline segment.

[0126] Step S603: Calculate the product of the forward section cable length, the forward section water flow vector, and the cable compensation amount to determine the forward section resistance torque.

[0127] Among them, the forward section resistance torque refers to the water flow resistance torque experienced by the communication cable in the forward pipeline section, which is determined by the processing terminal by calculating the product of the forward section cable length, the forward section water flow vector, and the cable compensation amount.

[0128] Step S604: Calculate the product of the current segment running length, the current segment flow vector, and the cable compensation amount to determine the current segment resistance torque.

[0129] Among them, the current segment resistance torque refers to the water flow resistance torque experienced by the communication cable within the current pipeline segment, which is determined by the processing terminal by calculating the product of the current segment running length, the current segment water flow vector, and the cable compensation amount.

[0130] Step S605: Calculate the product of the machine body compensation amount and the current segment water flow vector to determine the machine body resistance torque.

[0131] Among them, the body resistance torque refers to the magnitude of the water resistance torque experienced by the water conveyance line inspection robot when it performs inspection operations in the current section. It is determined by the processing terminal through the product of the body compensation amount and the current section water flow vector.

[0132] Step S606: Calculate the vector sum of the computer body resistance torque, the current segment resistance torque, the forward segment resistance torque, and the initial torque of the cable to determine the total torque to be compensated.

[0133] The total torque to be compensated refers to the resistance torque that the water line inspection robot needs to compensate for in the next control cycle in order to maintain the set inspection operation posture and inspection operation speed. It includes the resistance of the water flow in the water pipeline to the body of the water line inspection robot, the resistance of the water flow in the water pipeline to the communication cable, and the torque generated by the water line inspection robot to drag the communication cable during the inspection operation. It is determined by the processing terminal through the vector sum of the body resistance torque, the current segment resistance torque, the forward segment resistance torque, and the initial torque of the cable.

[0134] Step S607: Analyze the total torque to be compensated to determine the operating compensation parameters.

[0135] The operating compensation parameters are consistent with those in step S104, and are determined by the processing terminal through analysis of the total torque to be compensated. Specific analysis steps are detailed below. Figure 7 The steps in the process.

[0136] Reference Figure 7 The steps for analyzing the total torque to be compensated to determine the operating compensation parameters include: Step S700: Decompose the total torque to be compensated to determine the axial compensation torque, lateral compensation torque, and vertical compensation torque.

[0137] Among them, the axial compensation torque refers to the orthogonal component of the total torque to be compensated in the axial direction, which is determined by the processing terminal through orthogonal decomposition of the total torque to be compensated.

[0138] Lateral compensation torque refers to the orthogonal component of the total torque to be compensated in the lateral direction, which is determined by the processing terminal through orthogonal decomposition of the total torque to be compensated.

[0139] Vertical compensation torque refers to the orthogonal component of the total torque to be compensated in the vertical direction, which is determined by the processing terminal through orthogonal decomposition of the total torque to be compensated.

[0140] Step S701: Calculate the product of the axial compensation torque and the preset axial conversion coefficient to determine the axial compensation power.

[0141] The axial conversion coefficient is the conversion coefficient between the axial torque and the total power of the axial thrusters. It is determined by the operator by first setting an ideal no-load condition with no water flow, fixing the water supply line inspection robot on the torque test platform, controlling all axial thrusters to synchronously output gradient power values, collecting total axial torque data, and performing linear fitting on the total input power of the axial thrusters and the axial torque data. The slope of the linear fitting line is the axial conversion coefficient.

[0142] Axial compensation power refers to the additional power required to compensate for or reduce the axial thruster from its original control parameters in order to offset the axial compensation torque. It is determined by the processing terminal by calculating the product of the axial compensation torque and the axial conversion coefficient.

[0143] Step S702: Calculate the product of the lateral compensation torque and the preset lateral conversion coefficient to determine the lateral compensation power.

[0144] The lateral conversion coefficient is the conversion coefficient between the lateral torque and the total power of the lateral thrusters. It is determined by the operator by first setting an ideal no-load condition with no water flow, fixing the water supply line inspection robot on the torque test platform, controlling all lateral thrusters to synchronously output gradient power values, collecting total lateral torque data, and performing linear fitting on the total input power of the lateral thrusters and the lateral torque data. The slope of the linear fitting line is the lateral conversion coefficient.

[0145] Lateral compensation power refers to the additional power required to increase or decrease the lateral thruster from its original control parameters in order to compensate for and counteract the lateral compensation torque. It is determined by the processing terminal by calculating the product of the lateral compensation torque and the lateral conversion coefficient.

[0146] Step S703: Calculate the product of the vertical compensation torque and the preset vertical conversion coefficient to determine the vertical compensation power.

[0147] The vertical conversion coefficient refers to the conversion coefficient between the vertical torque and the total power of the vertical thrusters. It is determined by the operator by first setting an ideal no-load condition with no water flow, fixing the water supply line inspection robot on the torque test platform, controlling all vertical thrusters to synchronously output gradient power values, collecting total vertical torque data, and performing linear fitting on the total input power of the vertical thrusters and the vertical torque data. The slope of the linear fitting line is the vertical conversion coefficient.

[0148] Vertical compensation power refers to the additional power required to compensate for or reduce the vertical thruster's original control parameters in order to offset the vertical compensation torque. It is determined by the processing terminal by calculating the product of the vertical compensation torque and the vertical conversion coefficient.

[0149] Step S704: Integrate the axial compensation power, lateral compensation power, and vertical compensation power to determine the operating compensation parameters.

[0150] The operating compensation parameters are consistent with those in step S607. The processing terminal determines the axial compensation power, lateral compensation power, and vertical compensation power by integrating them after determining the axial compensation power, lateral compensation power, and vertical compensation power, thereby improving the operational stability of the water conveyance line inspection robot.

[0151] Based on the same inventive concept, embodiments of this application provide a water pipeline inspection robot control system, including: The acquisition module is used to acquire water flow rate, forward running distance, thruster running speed, water pipeline inner diameter, communication cable outer diameter, robot frontal area, robot traction arm, robot resistance arm, visual distance correction, forward global coordinates, running heading angle, running pitch angle, cable unit tension, cable force arm, and pipeline global parameters during the inspection period. A memory for storing a program for controlling a water pipeline inspection robot; The processor and memory can load and execute programs to implement a control method for a water pipeline inspection robot.

[0152] Based on the same inventive concept, this application provides an intelligent terminal, including a memory and a processor. The memory stores a computer program that can be loaded and executed by the processor to control a water pipeline inspection robot.

[0153] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the above-described division of functional modules is used as an example. In practical applications, the above functions can be assigned to different functional modules as needed, that is, the internal structure of the device can be divided into different functional modules to complete all or part of the functions described above. The specific working process of the system, device, and unit described above can be referred to the corresponding process in the foregoing method embodiments, and will not be repeated here.

[0154] The above are all preferred embodiments of this application and are not intended to limit the scope of protection of this application. Any feature disclosed in this specification (including the abstract and drawings) may be replaced by other equivalent or similar features unless specifically stated otherwise. That is, unless specifically stated otherwise, each feature is only one example of a series of equivalent or similar features.

Claims

1. A control method for a water pipeline inspection robot, characterized in that, include: Acquire water flow, forward travel distance, and thruster rotation speed during the inspection period; The water flow rate during the inspection period was analyzed to determine the thruster compensation coefficient, cable compensation amount, and body compensation amount; The forward travel distance, thruster operating speed, and thruster compensation coefficient are analyzed to determine the robot's travel distance and trajectory. The robot's travel distance and trajectory are analyzed to determine the cable reverse torque and cable drag length. The robot's travel distance, cable drag length, cable reverse torque, cable compensation amount, and body compensation amount are analyzed to determine the operating compensation parameters; The operation of the water supply line inspection robot is controlled according to the preset operating compensation parameters.

2. The control method for a water pipeline inspection robot according to claim 1, characterized in that, The steps for analyzing water flow during the inspection period to determine the thruster compensation coefficient, cable compensation amount, and machine body compensation amount include: Obtain the inner diameter of the water pipeline, the outer diameter of the communication cable, and the robot's flow-facing area; Input the inner diameter of the water pipeline and the water flow rate during the inspection period into the preset water flow velocity model to determine the instantaneous flow velocity during the inspection. Calculate the standard deviation of the instantaneous flow velocity during inspection to determine the standard deviation of the water flow velocity; Calculate the average instantaneous flow velocity during inspection to determine the average water flow velocity; The mean value of water flow velocity is expanded based on the standard deviation of water flow velocity to determine the upper limit of water flow velocity; The upper limit of water flow velocity, the outer diameter of communication cables, and the robot's frontal area are analyzed to determine the thruster compensation coefficient, cable compensation amount, and body compensation amount.

3. The control method for a water pipeline inspection robot according to claim 2, characterized in that, The steps for analyzing the upper limit of water flow velocity, the outer diameter of communication cables, and the robot's frontal area to determine the thruster compensation coefficient, cable compensation amount, and body compensation amount include: The upper limit of water flow velocity, the preset cable resistance coefficient, and the outer diameter of the communication cable are input into the preset axial resistance model to determine the unit cable resistance. The upper limit of water flow velocity, the preset body drag coefficient, and the robot's frontal area are input into the preset bluff body flow model to determine the body's water flow resistance. Obtain the traction arm and resistance arm of the aircraft; Calculate the product of the preset safety factor, unit cable resistance, and machine body traction arm to determine the cable compensation amount; Calculate the product of the safety factor, the water flow resistance of the body, and the resistance lever arm of the body to determine the compensation amount of the body; The upper limit of water flow velocity and the preset maximum thruster velocity are input into the preset velocity compensation model to determine the thruster compensation coefficient.

4. The control method for a water pipeline inspection robot according to claim 1, characterized in that, The steps for analyzing the forward travel distance, thruster operating speed, and thruster compensation coefficient to determine the robot's travel distance and trajectory include: The propeller operating speed, the preset control cycle duration, the preset speed conversion coefficient, and the propeller compensation coefficient are input into the preset body travel model to determine the travel distance in this cycle. Obtain the visual distance correction amount; The sum of the visual distance correction, the current cycle running distance, and the forward running distance is calculated to determine the robot's travel distance; Obtain forward global coordinates, heading angle, and pitch angle; Input the forward global coordinates, heading angle, pitch angle, and current cycle distance into the preset trajectory model to determine the robot's real-time coordinates; The forward global coordinates and the robot's real-time coordinates are integrated to determine the robot's trajectory.

5. The control method for a water pipeline inspection robot according to claim 1, characterized in that, The steps for analyzing the robot's travel distance and trajectory to determine the cable reverse torque and cable drag length include: Calculate the sum of the robot's travel distance and the preset reserved cable length to determine the cable drag length; Obtain the unit tensile force of the cable; Calculate the product of the unit tensile force of the cable and the cable drag length to determine the tensile force of the base cable; Data is extracted from the robot's trajectory to determine the real-time trajectory coordinates and the coordinates of the preceding trajectory; Calculate the direction vectors of the real-time trajectory coordinates and the forward trajectory coordinates to determine the direction vector of the tension force; The tension direction vector is transformed into a coordinate system based on a preset attitude transformation matrix to determine the tension direction of the aircraft. Calculate the product of the tension in the base cable and the tension in the machine body to determine the reverse torque of the cable.

6. The control method for a water pipeline inspection robot according to claim 1, characterized in that, The steps to determine the operational compensation parameters by analyzing the robot's travel distance, cable drag length, cable reverse torque, cable compensation amount, and machine body compensation amount include: Obtain the cable force arm and global parameters of the pipe; Calculate the cross product of the cable's lever arm and the cable's reverse torque to determine the cable's initial torque; Based on the robot's travel distance, global pipeline parameters are extracted to determine the current segment flow vector, the forward segment flow vector, the current segment running length, and the forward segment cable length. Calculate the product of the forward section cable length, the forward section water flow vector, and the cable compensation amount to determine the forward section resistance torque; Calculate the product of the current segment's running length, the current segment's water flow vector, and the cable compensation amount to determine the current segment's resistance torque; The product of the computer body compensation amount and the current segment water flow vector is used to determine the body drag torque; The vector sum of the computer body resistance torque, the current segment resistance torque, the forward segment resistance torque, and the initial torque of the cable is used to determine the total torque to be compensated. The total torque to be compensated is analyzed to determine the operating compensation parameters.

7. The control method for a water pipeline inspection robot according to claim 6, characterized in that, The steps for analyzing the total torque to be compensated to determine the operating compensation parameters include: The total torque to be compensated is decomposed to determine the axial compensation torque, lateral compensation torque, and vertical compensation torque; Calculate the product of the axial compensation torque and the preset axial conversion coefficient to determine the axial compensation power; Calculate the product of the lateral compensation torque and the preset lateral conversion coefficient to determine the lateral compensation power; Calculate the product of the vertical compensation torque and the preset vertical conversion coefficient to determine the vertical compensation power; The axial compensation power, lateral compensation power, and vertical compensation power are integrated to determine the operating compensation parameters.

8. A control system for a water pipeline inspection robot, characterized in that, include: The acquisition module is used to acquire water flow, forward travel distance, and thruster rotation speed during the inspection period; A memory for storing a program for a water pipeline inspection robot control method as described in any one of claims 1 to 7; The processor and the program in the memory can be loaded and executed by the processor to implement the water pipeline inspection robot control method as described in any one of claims 1 to 7.

9. A smart terminal, characterized in that, It includes a memory and a processor, wherein the memory stores a computer program that can be loaded by the processor and executed as described in any one of claims 1 to 7, which is a control method for a water pipeline inspection robot.

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