Pipeline-like earthworm bionic detector control system

Abstract

The utility model discloses a pipeline-like earthworm bionic detector control system, which comprises a system power supply, a main controller, an auxiliary controller, a monitoring unit and a motion unit, and is characterized in that the system power supply supplies power to the main controller and the auxiliary controller, and the main controller comprises a motion control chip and a monitoring control chip; the motion unit comprises a stepping motor, a motor driver and a driver power supply, the motion control chip is connected with the motor driver, the auxiliary controller is used for transmitting data and image information and sending a motor control command, the auxiliary controller is connected with the main controller and the monitoring unit, and the monitoring unit comprises a function module and a Blinker platform. The monitoring control chip is connected with the function module. The earthworm bionic detector is accurately positioned by collecting data of the distance sensor through the monitoring control chip, so that the specific positions of corrosion and damage in the similar pipeline are found. Temperature and humidity data, methane data and carbon monoxide data in the similar pipeline are collected, and remote data collection and similar pipeline internal data monitoring are achieved.

Description

TECHNICAL FIELD

[0001] The utility model relates to a pipeline robot control system field, concretely is a kind of bionic probe control system of earthworm-like pipeline. BACKGROUND

[0002] The material of oil and gas pipeline is mainly high-performance steel pipe, and most of them are buried underground, but the soil environment underground is relatively complex, and substances such as soil, minerals and microorganisms can damage the outer surface of the pipeline. The impurities contained in the transported oil and gas can also damage the inner surface quality of the pipeline. Over time, corrosion and damage may occur inside the pipeline, which may even lead to leakage of oil and gas fuel and cause serious adverse consequences. Therefore, corrosion detection and protection of oil and gas pipelines are particularly important.

[0003] Corrosion detection and protection of oil and gas pipelines mainly include indirect detection and direct detection. Indirect detection includes four methods: ultrasonic detection, magnetic flux leakage detection, radiation detection and eddy current detection. Direct detection is to place a pipeline probe inside the pipeline to directly detect the pipeline environment and observe the pipeline surface corrosion. However, the current direct detection method has the following disadvantages: first, the internal environment of the pipeline is complex, and the current popular wheeled and tracked mobile robots are prone to side slipping and jamming in the pipeline; second, China's oil and gas pipeline detection technology has developed for a short time, and there is still a gap in accurate positioning and reasonable detection of damage; third, it cannot detect the specific values of various factors inside the pipeline. SUMMARY

[0004] The utility model aims at providing a kind of earthworm-like pipeline bionic probe control system to solve the problem of poor detection effect of existing pipeline robot and inconvenient control. The STM32F103C8T6 system module can accurately position the earthworm-like probe by collecting data from the distance sensor, so as to find the specific location of corrosion and damage inside the pipeline. The STM32F103C8T6 system module can collect data from the temperature and humidity sensor, methane sensor and carbon monoxide sensor to obtain the temperature and humidity data, methane data and carbon monoxide data inside the pipeline, so as to realize remote data collection and monitoring of internal data of the pipeline.

[0005] To achieve the above object, the utility model provides the following technical scheme: a kind of pipeline-like earthworm bionic detector control system, including system power supply, main controller, coordination controller, monitoring unit and motion unit, the system power supply is powered for main controller and coordination controller, the main controller includes motion control chip and monitoring control chip, the motion unit includes stepper motor, motor driver and driver power supply and, the motion control chip is connected with motor driver, the coordination controller is used to transmit data, image information and send motor control command, the coordination controller is connected with main controller and monitoring unit, the monitoring unit includes functional module and Blinker platform, the monitoring control chip is connected with functional module.

[0006] As further improvement of the above technical solution:

[0007] The motion unit includes a robot, the robot includes a plurality of body segments, a plurality of stepper motors are arranged in the body segments, the motor driver is connected with the stepper motor, for driving the stepper motor, and then controlling the robot peristalsis.

[0008] The functional module includes a temperature and humidity sensor, a methane sensor, a carbon monoxide sensor and a distance sensor.

[0009] The coordination controller includes an ESP32-CAM module and an ESP8266 module, for wireless data transmission.

[0010] The Blinker platform includes a Blinker camera platform and a Blinker data display and control platform, the ESP32-CAM module is connected with the Blinker camera platform, for image acquisition and wireless upload; the ESP8266 module is connected with the Blinker data display and control platform, for wireless data transmission, the wireless data includes motor control command and sensor data.

[0011] The motion control chip is an STM32F103C6T6 chip. By controlling five stepper motors, the earthworm bionic device can move forward in the pipeline-like environment, so that it can adapt to the complex environment inside the pipeline-like environment, ensure that it can flow freely inside the pipeline-like environment without side slip, jam and other situations.

[0012] The monitoring control chip is an STM32F103C8T6 chip. The STM32F103C8T6 system module can accurately locate the earthworm bionic detector by collecting the data of the distance sensor, so as to find the specific location of the corrosion and damage inside the pipeline-like environment. The data of the temperature and humidity sensor, the methane sensor and the carbon monoxide sensor can obtain the temperature and humidity data, the methane data and the carbon monoxide data inside the pipeline-like environment, so as to realize remote data collection and monitoring of the data inside the pipeline-like environment.

[0013] Compared with the prior art, the utility model has the beneficial effects that:

[0014] Efficient data acquisition and transmission: by using STM32F103C8T6 chip to collect various sensor data, and combining with ESP8266 module for wireless transmission, real-time collection and viewing of remote data are realized, and the detection efficiency is improved.

[0015] Flexible motion control: the STM32F103C6T6 chip is used to control the stepping motor, and flexible motion of the detector in the pipeline-like pipeline is realized, and the detection demand in different environments is adapted.

[0016] Multifunctional integration: the system integrates various sensors such as temperature and humidity, methane, carbon monoxide and distance, and can comprehensively monitor the environmental parameters in the pipeline-like pipeline, and provides detailed information for maintenance and management.

[0017] Stable image acquisition and transmission: the ESP32-CAM module is combined with the Blinker platform, real-time image acquisition and wireless uploading are realized, and the working condition of the detector is convenient for remote monitoring.

[0018] Convenient user interaction: the Blinker platform allows users to receive sensor data and image information through wireless WiFi, and sends control commands, and realizes the interactive operation of the user and the detector.

[0019] Energy saving and environmental protection: lithium batteries are used for power supply, and are converted into required voltage through a voltage stabilizing circuit, energy is effectively utilized, and energy consumption is reduced.

[0020] Accurate position measurement: the infrared distance measuring sensor GY-53 is used, the position information of the detector in the pipeline-like pipeline can be effectively determined, and the detection accuracy is improved.

[0021] Cost-effective: under the premise of meeting the performance requirements, sensors and motors with high cost performance are selected, and the overall cost is reduced.

[0022] In summary, the pipeline-like earthworm bionic detector control system has the advantages of high efficiency, stability, flexibility, environmental protection and cost-effectiveness, and is suitable for the detection and maintenance of the internal environment of the pipeline-like pipeline. BRIEF DESCRIPTION OF DRAWINGS

[0023] Figure 1 It is the whole structure schematic diagram of the utility model control system;

[0024] Figure 2 It is the main controller and the cooperative controller schematic diagram of the utility model;

[0025] Figure 3 It is the motion unit structure schematic diagram of the utility model;

[0026] Figure 4 It is a monitoring unit structure schematic view of the utility model;

[0027] Figure 5 It is a robot movement structure schematic view of the utility model;

[0028] Figure 6 It is a body section structure schematic view one of the utility model;

[0029] Figure 7 It is a body section structure schematic view two of the utility model;

[0030] Figure 8 It is a monitoring control chip structure schematic view of the utility model;

[0031] Figure 9 It is a movement control chip structure schematic view of the utility model;

[0032] Figure 10 It is an ESP32 single-chip microcomputer module circuit schematic view of the utility model;

[0033] Figure 11 It is a function module structure schematic view of the utility model;

[0034] Figure 12 It is a motor driver and stepper motor structure schematic view of the utility model;

[0035] Figure 13 It is a power supply circuit structure schematic view of the utility model.

[0036] The figure mark: 100, telescopic motor;200, telescopic rack;300, expansion motor;400, expansion rack. DETAILED DESCRIPTION

[0037] In order to make the technical means, creative features, purposes and effects realized by the utility model easy to understand, the utility model is further described below in combination with specific embodiments.

[0038] In the description of the utility model, it should be explained that the orientation or position indicated by the terms "upper", "lower", "inner", "outer", "front end", "rear end", "two ends", "one end", "another end" and the like is based on the orientation or position relationship shown in the drawings, and is only for the convenience of describing the utility model and simplifying the description, and cannot be understood as indicating or implying that the device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the utility model. In addition, the terms "first" and "second" are only for the purpose of description, and cannot be understood as indicating or implying relative importance.

[0039] In the description of this utility model, it should be noted that, unless otherwise explicitly specified and limited, the terms "installed," "equipped with," and "connected," etc., should be interpreted broadly. For example, "connected" can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium; it can be a connection within two components. Those skilled in the art can understand the specific meaning of the above terms in this utility model based on the specific circumstances.

[0040] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0041] like Figures 1 to 4 As shown, the pipe-like earthworm bionic detector control system of this embodiment includes a system power supply, a main controller, a co-controller, a monitoring unit, and a motion unit. The system power supply supplies power to the main controller and the co-controller. The main controller includes a motion control chip and a monitoring control chip. The motion control chip is an STM32F103C6T6 chip; the monitoring control chip is an STM32F103C8T6 chip. The motion unit includes a stepper motor, a motor driver, and a driver power supply. The motion control chip is connected to the motor driver. The co-controller is used to transmit data, image information, and send motor control commands. The co-controller is connected to the main controller and the monitoring unit. The STM32F103C6T6 motion control chip controls the stepper motor to realize the movement of the detector within the pipe-like structure. The monitoring unit includes functional modules and a Blinker platform. The monitoring control chip is connected to the functional modules. The functional modules include a temperature and humidity sensor, a methane sensor, a carbon monoxide sensor, and a distance sensor.

[0042] The STM32F103C8T6 monitoring and control chip collects data from temperature and humidity sensors, methane sensors, carbon monoxide sensors, and distance sensors, enabling remote data collection and facilitating monitoring of data within pipelines. The co-controller includes an ESP32-CAM module and an ESP8266 module for wireless data transmission. The STM32F103C8T6 chip communicates serially with the ESP8266 module, and vice versa. The former sends command characters through the ESP8266 module to control the STM32F103C8T6 chip to execute specified motor rotation rules, while the latter sends sensor data to the ESP8266 module in real time.

[0043] The Blinker platform includes a Blinker camera platform and a Blinker data display and control platform, an ESP32-CAM module is connected to the Blinker camera platform, and is used for image acquisition and wireless uploading; an ESP8266 module is connected to the Blinker data display and control platform, and is used for wireless data transmission, the wireless data including motor control commands and sensor data. The ESP8266 module and the Blinker data display and control platform, and the ESP32-CAM module and the Blinker camera platform realize wireless WiFi data transmission: by connecting the two cooperative controllers of the ESP32-CAM module and the ESP8266 module to a WiFi signal and uploading sensor data and real-time images to the Blinker server, the sensor data and image information obtained through wireless WiFi transmission are displayed through the Blinker platform, and the Blinker platform can also send step motor control commands to the ESP8266 module, the ESP8266 module transmits the command characters to the STM32F103C6T6 main controller through serial communication, so as to realize the step motor control function.

[0044] As shown in Figure 5 , the motion unit includes a robot, the robot includes a plurality of body segments, a plurality of step motors are arranged in the body segments, motor drivers are connected to the step motors, and are used to drive the step motors, thereby controlling the peristalsis of the robot. The robot includes three body segments, each body segment includes an expansion motor, a telescopic motor is arranged between two connected body segments, the three body segments here include two telescopic motors, the motor drivers control the movement of the expansion motors and the telescopic motors, the expansion motors and the telescopic motors are step motors, the number of step motors is 5, and the number of motor drivers is 5. For ease of understanding, as shown in Figure 6 and Figure 7 , part of the structure of the robot is shown, wherein two body segments are shown, each body segment includes an expansion motor 300, one expansion motor 300 drives two expansion racks 400 to operate, expansion is realized, a telescopic motor 100 drives one telescopic rack 200 to operate, expansion is realized, and the present application is directed to a straight pipeline, so that adjacent body segments are connected in a sliding manner. The movement process of the robot is shown in Figure 5 .

[0045] As shown in Figure 8 , it is a circuit principle diagram of an STM32 module for monitoring and control chips, including an STM32F103C8T6 chip, a reset circuit and a crystal oscillator circuit.

[0046] As shown in Figure 9 , it is a circuit principle diagram of an STM32 module for motion control chips, including an STM32F103C6T6 chip, a reset circuit and a crystal oscillator circuit.

[0047] As Figure 10 shown, it is the ESP32 single-chip microcomputer module circuit principle diagram, including ESP32-S chip, reset circuit, crystal oscillator circuit.

[0048] As Figure 11 shown, it is the functional module circuit principle diagram, including DHT22 temperature and humidity sensor circuit, GY-53 distance sensor circuit, JXM-CH4 methane sensor circuit and JXM-CO carbon monoxide sensor circuit. The system needs to measure is the temperature and humidity inside the pipeline, considering that the inside of the pipeline in some areas may be below zero Celsius, so the temperature measured by the sensor should also be below zero Celsius. Considering the receiving data mode of the temperature and humidity sensor, there are two ways in the market, single bus output data and I2C double bus output data, for the sake of simplicity and saving the number of IO pins of STM32 single-chip microcomputer, so directly use the single bus output temperature and humidity data sensor. According to the above requirements, DHT22 temperature and humidity sensor is selected; The system needs to measure is the methane gas and carbon monoxide gas concentration inside the pipeline, since the temperature and humidity inside the pipeline may change all the time, the conventional MQ type combustible gas sensor is greatly affected by temperature, which is not suitable for use in this system, so a methane and carbon monoxide sensor that is less affected by external environmental conditions is needed. According to the above requirements and the market situation of harmful gas sensors, JXM series methane sensor (JXM-CH4) and carbon monoxide sensor (JXM-CO) are selected; The system needs to measure is the position information of the probe in the pipeline, which can effectively determine the position of the machine by measuring the distance between the probe and the pipeline. The current mature ranging principles include ultrasonic ranging, infrared ranging and laser ranging, etc. Among them, ultrasonic ranging has the problems of insufficient anti-interference ability and low measurement accuracy, laser ranging has good performance in all aspects but is expensive. According to the above requirements, infrared ranging sensor GY-53 is selected to simulate the position information of the machine.

[0049] As Figure 12As shown in the figure, it is a stepping motor module circuit schematic diagram, including 5 TB6600 upgraded version stepping motor driver modules and 5 42BYG34-401A stepping motors. The system needs to control the extension and shortening of the telescopic rod to complete the movement of the detector, so a motor capable of rotating a certain angle is needed, and the rotating shaft is kept fixed and locked in the static state, which plays the role of supporting the machine. The motor that meets the above requirements can be a servo, a stepping motor or a servo motor kit. Considering the insufficient torque of small servo and the working principle and other problems, the high-performance servo motor system is expensive, so the stepping motor is selected to control the telescopic rod. In order to make the rotation angle of the stepping motor more accurate, the stepping motor driver is used to improve the subdivision to drive the stepping motor. In view of the above requirements, the 42BYG34-401A plug-in type stepping motor and the TB6600 upgraded version stepping motor driver kit are selected.

[0050] As Figure 13 shown in the figure, it is a power supply circuit schematic diagram, including 12V to 5V circuit, 5V to 3.3V circuit and power supply decoupling circuit. Since the lithium battery with a voltage of 12V is used, and the STM32 chip and the ESP series chip are powered by 3.3V or 5V, a high-voltage to 5V voltage stabilizing chip and a 5V to 3.3V voltage stabilizing chip are needed. In view of the above requirements and the market situation of voltage stabilizing chip, the MP2359 voltage stabilizing chip and the AMS1117 voltage stabilizing chip are selected.

[0051] The above-mentioned is only an embodiment of the present application, and the well-known specific structure and characteristics in the scheme are not described in detail. For those skilled in the art, it is obvious that the present application is not limited to the details of the above-mentioned exemplary embodiments, and the present application can be realized in other specific forms without departing from the spirit or basic characteristics of the present application. Therefore, from any point of view, the embodiments should be regarded as exemplary and non-limiting, the scope of the present application is defined by the appended claims rather than the above description, therefore all changes falling within the meaning and scope of the equivalent elements of the claims are intended to be included in the present application. Any reference signs in the claims should not be regarded as limiting the claims involved.

Claims

1. A tubelike earthworm biomimetic probe control system, characterized by: The system comprises a system power supply, a main controller, a cooperative controller, a monitoring unit and a motion unit, the system power supply supplies power for the main controller and the cooperative controller, the main controller comprises a motion control chip and a monitoring control chip, the motion unit comprises a stepping motor, a motor driver and a driver power supply, the motion control chip is connected with the motor driver, the cooperative controller is used for transmitting data, image information and sending motor control commands, the cooperative controller is connected with the main controller and the monitoring unit, the monitoring unit comprises a function module and a Blinker platform, and the monitoring control chip is connected with the function module.

2. The tubuliform earthworm-robotic probe control system according to claim 1, characterized in that: The motion unit comprises a robot, the robot comprises a plurality of body segments, a plurality of stepping motors are arranged in the body segments, the motor driver is connected with the stepping motor and is used for driving the stepping motor and then controlling the robot to creep.

3. The tubuliform earthworm-robotic probe control system according to claim 1, wherein: The function module comprises a temperature and humidity sensor, a methane sensor, a carbon monoxide sensor and a distance sensor.

4. The tubulomimetic earthworm biomimetic probe control system of claim 1, wherein: The cooperative controller comprises an ESP32-CAM module and an ESP8266 module and is used for wirelessly transmitting data.

5. The tubulomimetic earthworm biomimetic probe control system of claim 4, wherein: The Blinker platform comprises a Blinker camera platform and a Blinker data display and control platform, the ESP32-CAM module is connected with the Blinker camera platform and is used for image acquisition and wireless uploading, the ESP8266 module is connected with the Blinker data display and control platform and is used for wireless data transmission, and the wireless data comprises motor control commands and sensor data.

6. The tubulomimetic earthworm biomimetic probe control system of claim 1, wherein: The motion control chip is an STM32F103C6T6 chip.

7. The tubulomimetic earthworm biomimetic probe control system of claim 1, wherein: The monitoring control chip is an STM32F103C8T6 chip.

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