CN103092206A - Traversal path planning method of pipeline robot - Google Patents
Traversal path planning method of pipeline robot Download PDFInfo
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- CN103092206A CN103092206A CN2013100607471A CN201310060747A CN103092206A CN 103092206 A CN103092206 A CN 103092206A CN 2013100607471 A CN2013100607471 A CN 2013100607471A CN 201310060747 A CN201310060747 A CN 201310060747A CN 103092206 A CN103092206 A CN 103092206A
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Abstract
Disclosed is a traversal path planning method of a pipeline robot. The pipeline robot comprises a car frame. Two driving wheels, two driving wheel motor, a supporting wheel, a forward-looking obstacle detection sensor, a side-looking obstacle detection sensor, , a step detection sensor, and a processor are arranged on the car frame, wherein the two driving wheel motor and the supporting wheel are connected with the driving wheels, the forward-looking obstacle detection sensor is arranged in the front of the car frame, the side-looking obstacle detection sensor is arranged at side of the car frame, the step detection sensor is arranged at the bottom of the car frame, and the processor is used for intensively control. Free motion of the processor is achieved through respectively set of speed and direction of the two driving wheels and the processor can detect distance of obstacles in front and at side. A characteristic signal identification device is arranged in the pipeline robot. The characteristic signal identification device is connected with the processor to identifies characteristic signals of starting point. With the traversal path planning method of the pipeline robot, different strategies are designed according to different positions of pipelines to guide the pipeline robot to walk along a pipeline wall, and thus traversal process in the pipeline can be achieved.
Description
Technical field
The present invention relates to a kind of traverse path planing method of pipe robot, belong to automation field.
Background technology
For piping network, such as central air-conditioning pipe network, gas pipeline network etc., because the length that himself extends is very large, and it is intricate to distribute, and brings very large difficulty therefore for maintenance, detection and cleaning.
At present, mainly adopt master slave mode, main frame is the main control computer that is positioned at pipeline external, and slave is the robot car that is positioned at pipe interior, and main control computer is being connected feed cable and communication cable with robot car.Feed cable provides power to robot car, and communication cable is responsible for the steering order of main control computer is conveyed to robot car, and sends the information of robot car collection to main control computer.The advantage of this mode of operation is simple in structure, and technical difficulty is little, is easy to realize, still due to the restriction of cable length, robot car can't be deep into the inside of pipeline.Such as, central air-conditioning pipe, in order to clean each part of air-conditioning duct, just must just carry out opening on pipeline every regular length, put into robot car, clearly this processing mode has not only caused destruction to air-conditioning duct, and efficient is very low, sometimes also may impact production work.
Summary of the invention
The objective of the invention is in order to overcome weak point of the prior art, adopt the mode of utonomous working, designed the traverse path planing method of pipe robot, pipe robot can be realized traveling through to pipeline according to this paths planning method and cruise, this control method assurance pipe robot is completed maintenance, inspection or the cleaning task to pipeline automatically, and can get back to smoothly starting point.
The technical solution adopted for the present invention to solve the technical problems is:
the traverse path planing method of pipe robot, described pipe robot comprises vehicle frame, be provided with two driving wheels on described vehicle frame and be connected two driving wheel motors with described driving wheel, a support wheel, be arranged on the forward sight detection of obstacles sensor in the place ahead, be arranged on the side-looking detection of obstacles sensor in left side, be arranged on the step detecting sensor of described bottom of frame, and the rechargeable battery that power supply is provided, carry out central controlled processor, described driving wheel motor, forward sight detection of obstacles sensor, side-looking detection of obstacles sensor is connected with processor with the step detecting sensor, speed and the direction free movement that realize described pipe robot of described processor by two described driving wheels are set respectively, and can detect the obstacle distance of the place ahead and side, described forward sight detection of obstacles sensor and side-looking detection of obstacles sensor setting are ultrasonic distance-measuring sensor, also can be set to the infrared distance measuring sensor, at described pipe robot, the characteristic signal recognition device is set, described characteristic signal recognition device is connected with described processor, be used for the characteristic signal that identification is arranged on starting point, described traverse path planing method, realize the ergodic process of described pipe robot in pipeline by following steps:
(1), described pipe robot is placed on reference position, duct wall is being pasted in the left side, described processor is opened described driving wheel motor and is begun walking;
(2), when described pipe robot is in the flat region of pipeline, rely on described side-looking detection of obstacles sensor and described duct wall to keep certain distance, keep advancing;
(3), be in the zone time of turning round of pipeline when described pipe robot, described side-looking detection of obstacles sensor can not detect described duct wall, described pipe robot, then moves on until described side-looking detection of obstacles sensor detects described duct wall again to anticlockwise;
(4), when described pipe robot is in the bottom section of pipeline, if described forward sight detection of obstacles sensor detects described duct wall, direction rotation to the right, until described forward sight detection of obstacles sensor can not detect described duct wall, then move on;
(5), when described pipe robot is in the vertical subsidence zone of pipeline, if described step detecting sensor output useful signal retreats and direction rotation certain angle to the right, then move on;
(6), place characteristic signal in described reference position;
(7), described pipe robot is through described characteristic signal, described characteristic signal recognition device output useful signal is given described processor, described processor judges that cleaning finishes, and closes described driving wheel motor, quits work.
Described side-looking detection of obstacles sensor can be arranged on the right side of described pipe robot, and described traverse path planing method comprises the following steps:
(1), described pipe robot is placed on reference position, duct wall is being pasted on the right side, described processor is opened described driving wheel motor and is begun walking;
(2), when described pipe robot is in the flat region of pipeline, rely on described side-looking detection of obstacles sensor and described duct wall to keep certain distance, keep advancing;
(3), be in the zone time of turning round of pipeline when described pipe robot, described side-looking detection of obstacles sensor can not detect described duct wall, described pipe robot, then moves on until described side-looking detection of obstacles sensor detects described duct wall again to right rotation;
(4), when described pipe robot is in the bottom section of pipeline, if described forward sight detection of obstacles sensor detects described duct wall, direction rotation left, until described forward sight detection of obstacles sensor can not detect described duct wall, then move on;
(5), when described pipe robot is in the vertical subsidence zone of pipeline, if described step detecting sensor output useful signal retreats and direction rotation certain angle left, then move on;
(6), place characteristic signal in described reference position;
(7), described pipe robot is through described characteristic signal, described characteristic signal recognition device output useful signal is given described processor, described processor judges that cleaning finishes, and closes described driving wheel motor, quits work.
Described characteristic signal can be set to magnetic material, and described characteristic signal recognition device is set to Hall sensor.
Described characteristic signal can be set to infrared launcher, and described characteristic signal recognition device is set to infrared receiving device.
Described step detecting sensor arranges infrared launcher and infrared receiving device, the direction of described infrared launcher and infrared receiving device is set to downwards, and described infrared launcher emission infrared light is received by described infrared receiving device after the piping reflection.
Implementing good effect of the present invention is: 1, can realize the traversal of pipeline is cruised, and automatically stop in reference position; 2, control method is simple, is easy to realize.
Description of drawings
The control structure block diagram of Fig. 1 pipe robot;
The path planning of Fig. 2 pipeline flat region;
Fig. 3 pipeline turn round the zone path planning;
The path planning in Fig. 4 duct bottom zone;
The path planning in Fig. 5 pipeline vertical subsidence zone.
Embodiment
Now the invention will be further described by reference to the accompanying drawings:
With reference to Fig. 1-5, a kind of traverse path planing method of pipe robot.
Described pipe robot 10 comprises vehicle frame, is provided with two driving wheels on described vehicle frame and is connected two driving wheel motors 3 and a support wheel with described driving wheel.At described pipe robot 10 the place aheads installation forward sight detection of obstacles sensors 4, for detection of the barrier situation in the place ahead; Side-looking detection of obstacles sensor 7 is installed in the left side, is used for measuring the distance of described pipe robot 10 and flanking obstacle; In described bottom of frame installation step detecting sensor 5, for the place ahead of measuring described pipe robot 10, whether the such situation of step is arranged.Described step detecting sensor 5 arranges infrared launcher and infrared receiving device, the direction of described infrared launcher and infrared receiving device is set to downwards, and described infrared launcher emission infrared light is set is received by described infrared receiving device after the piping reflection.Like this, run into the situation of step or pipeline vertical subsidence when described pipe robot 10, because very large variation has occured in the height of the reflecting surface of infrared light, described infrared receiving device can not be received the infrared light of emission, and therefore described pipe robot 10 can identify this situation and in time take measures to avoid falling down.
Also be provided with the rechargeable battery 2 that power supply is provided, carry out central controlled processor 1.
Described driving wheel motor 3, forward sight detection of obstacles sensor 4, side-looking detection of obstacles sensor 7 are connected with the step detecting sensor and are connected with processor 1.Speed and the direction free movement that realize described pipe robot 10 of described processor 1 by two described driving wheel motors 3 are set respectively can advance, retreat and the rotation of radius arbitrarily.Simultaneously, can utilize described forward sight detection of obstacles sensor 4 and side-looking detection of obstacles sensor 7 to detect the obstacle distance of the place ahead and side.Described forward sight detection of obstacles sensor 4 and side-looking detection of obstacles sensor 7 can be set to ultrasonic distance-measuring sensor, also can be set to the infrared distance measuring sensor.
On described pipe robot 10, characteristic signal recognition device 6 is set, described characteristic signal recognition device 6 is connected with described processor 1, is used for the characteristic signal 8 that identification is arranged on starting point.Described characteristic signal 8 is arranged on the reference position of described pipe robot 1, as the marking signal of end-of-job.Described characteristic signal 8 can be set to magnetic material, and so described characteristic signal 8 recognition devices 6 are set to Hall sensor; Described characteristic signal 8 can be set to infrared launcher, and described characteristic signal recognition device 6 is set to infrared receiving device.
Described traverse path planing method, realize the ergodic process of described pipe robot 10 in pipeline by following steps:
(1), described pipe robot 10 is placed on reference position, duct wall 9 is being pasted in the left side, described processor 1 is opened described driving wheel motor 3 and is begun walking;
(2), when described pipe robot 10 is in the flat region of pipeline, rely on described side-looking detection of obstacles sensor 7 and described duct wall 9 to keep certain distances, keep advancing;
(3), be in the zone time of turning round of pipeline when described pipe robot 10, described side-looking detection of obstacles sensor 7 can not detect described duct wall 9, described pipe robot 10, then moves on until described side-looking detection of obstacles sensor 7 detects described duct wall 9 again to anticlockwise;
(4), when described pipe robot 10 is in the bottom section of pipeline, if described forward sight detection of obstacles sensor 4 detects described duct wall 9, direction rotation to the right, until described forward sight detection of obstacles sensor 4 can not detect described duct wall 9, then move on;
(5), when described pipe robot 10 is in the vertical subsidence zone of pipeline, if described step detecting sensor 5 output useful signals retreat and direction rotation certain angle to the right, then move on;
(6), place characteristic signal 8 in described reference position;
(7), described pipe robot 10 is through described characteristic signals 8, described characteristic signal recognition device 6 output useful signals are given described processor 1, described processor 1 judges that cleaning finishes, and closes described driving wheel motor 3, quits work.
Like this, described pipe robot 10 has traveled through all pipelines along duct wall 9 limit that keeps left, and has got back to reference position.Equally, described pipe robot 10 also can travel through all pipelines along duct wall 9 limit of keeping right, at this moment need described side-looking detection of obstacles sensor 7 is arranged on the right side of described pipe robot 10, described traverse path planing method comprises the following steps:
(1), described pipe robot 10 is placed on reference position, duct wall 9 is being pasted on the right side, described processor 1 is opened described driving wheel motor 3 and is begun walking;
(2), when described pipe robot 10 is in the flat region of pipeline, rely on described side-looking detection of obstacles sensor 7 and described duct wall 9 to keep certain distances, keep advancing;
(3), be in the zone time of turning round of pipeline when described pipe robot 10, described side-looking detection of obstacles sensor 7 can not detect described duct wall 9, described pipe robot 10, then moves on until described side-looking detection of obstacles sensor 7 detects described duct wall 9 again to right rotation;
(4), when described pipe robot 10 is in the bottom section of pipeline, if described forward sight detection of obstacles sensor 4 detects described duct wall 9, direction rotation left, until described forward sight detection of obstacles sensor 4 can not detect described duct wall 9, then move on;
(5), when described pipe robot 10 is in the vertical subsidence zone of pipeline, if described step detecting sensor 5 output useful signals retreat and direction rotation certain angle left, then move on;
(6), place characteristic signal 8 in described reference position;
(7), described pipe robot 10 is through described characteristic signals 8, described characteristic signal recognition device 6 output useful signals are given described processor 1, described processor 1 judges that cleaning finishes, and closes described driving wheel motor 3, quits work.
In sum, pipe robot 10 can travel through along duct wall all parts of pipeline, and the automatic decision termination condition, and this mode has been exempted tediously long cable, has improved work efficiency, has automaticity high, the simple advantage of control method.
Claims (5)
1. the traverse path planing method of pipe robot, described pipe robot comprises vehicle frame, be provided with two driving wheels on described vehicle frame and be connected two driving wheel motors with described driving wheel, a support wheel, be arranged on the forward sight detection of obstacles sensor in the place ahead, be arranged on the side-looking detection of obstacles sensor in left side, be arranged on the step detecting sensor of described bottom of frame, and the rechargeable battery that power supply is provided, carry out central controlled processor, described driving wheel motor, forward sight detection of obstacles sensor, side-looking detection of obstacles sensor is connected with processor with the step detecting sensor, speed and the direction free movement that realize described pipe robot of described processor by two described driving wheels are set respectively, and can detect the obstacle distance of the place ahead and side, described forward sight detection of obstacles sensor and side-looking detection of obstacles sensor setting are ultrasonic distance-measuring sensor, also can be set to the infrared distance measuring sensor, it is characterized in that: at described pipe robot, the characteristic signal recognition device is set, described characteristic signal recognition device is connected with described processor, be used for the characteristic signal that identification is arranged on starting point, described traverse path planing method, realize the ergodic process of described pipe robot in pipeline by following steps:
(1), described pipe robot is placed on reference position, duct wall is being pasted in the left side, described processor is opened described driving wheel motor and is begun walking;
(2), when described pipe robot is in the flat region of pipeline, rely on described side-looking detection of obstacles sensor and described duct wall to keep certain distance, keep advancing;
(3), be in the zone time of turning round of pipeline when described pipe robot, described side-looking detection of obstacles sensor can not detect described duct wall, described pipe robot, then moves on until described side-looking detection of obstacles sensor detects described duct wall again to anticlockwise;
(4), when described pipe robot is in the bottom section of pipeline, if described forward sight detection of obstacles sensor detects described duct wall, direction rotation to the right, until described forward sight detection of obstacles sensor can not detect described duct wall, then move on;
(5), when described pipe robot is in the vertical subsidence zone of pipeline, if described step detecting sensor output useful signal retreats and direction rotation certain angle to the right, then move on;
(6), place characteristic signal in described reference position;
(7), described pipe robot is through described characteristic signal, described characteristic signal recognition device output useful signal is given described processor, described processor judges that cleaning finishes, and closes described driving wheel motor, quits work.
2. the traverse path planing method of pipe robot according to claim 1, it is characterized in that: described side-looking detection of obstacles sensor can be arranged on the right side of described pipe robot, and described traverse path planing method comprises the following steps:
(1), described pipe robot is placed on reference position, duct wall is being pasted on the right side, described processor is opened described driving wheel motor and is begun walking;
(2), when described pipe robot is in the flat region of pipeline, rely on described side-looking detection of obstacles sensor and described duct wall to keep certain distance, keep advancing;
(3), be in the zone time of turning round of pipeline when described pipe robot, described side-looking detection of obstacles sensor can not detect described duct wall, described pipe robot, then moves on until described side-looking detection of obstacles sensor detects described duct wall again to right rotation;
(4), when described pipe robot is in the bottom section of pipeline, if described forward sight detection of obstacles sensor detects described duct wall, direction rotation left, until described forward sight detection of obstacles sensor can not detect described duct wall, then move on;
(5), when described pipe robot is in the vertical subsidence zone of pipeline, if described step detecting sensor output useful signal retreats and direction rotation certain angle left, then move on;
(6), place characteristic signal in described reference position;
(7), described pipe robot is through described characteristic signal, described characteristic signal recognition device output useful signal is given described processor, described processor judges that cleaning finishes, and closes described driving wheel motor, quits work.
3. according to claim 1, the traverse path planing method of 2 described pipe robots, it is characterized in that: described characteristic signal can be set to magnetic material, described characteristic signal recognition device is set to Hall sensor.
4. according to claim 1, the traverse path planing method of 2 described pipe robots, it is characterized in that: described characteristic signal can be set to infrared launcher, described characteristic signal recognition device is set to infrared receiving device.
5. the traverse path planing method of 2 described pipe robots according to claim 1,, it is characterized in that: described step detecting sensor arranges infrared launcher and infrared receiving device, the direction of described infrared launcher and infrared receiving device is set to downwards, and described infrared launcher emission infrared light is received by described infrared receiving device after the piping reflection.
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| CN104677405A (en) * | 2013-11-29 | 2015-06-03 | 丰田自动车株式会社 | Abnormality determination system and determination method thereof |
| CN105739503A (en) * | 2016-04-13 | 2016-07-06 | 上海物景智能科技有限公司 | Turning method of walking robot and control device |
| CN106444808A (en) * | 2016-09-30 | 2017-02-22 | 海牧人（北京）科技有限公司 | Hull traversal method and hull traversal robot |
| CN108627172A (en) * | 2018-04-26 | 2018-10-09 | 杭州晶智能科技有限公司 | A kind of indoor mobile robot traverse path planing method based on fingerprint map |
| CN108873892A (en) * | 2018-05-31 | 2018-11-23 | 杭州晶智能科技有限公司 | A kind of automatic dust absorption machine people's optimum path planning method based on path density analysis |
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| CN110260808A (en) * | 2019-05-30 | 2019-09-20 | 国网浙江宁波市鄞州区供电有限公司 | Deformation inspection device |
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| WO2014190919A1 (en) * | 2013-05-31 | 2014-12-04 | 科沃斯机器人有限公司 | Self-moving device and control method therefor |
| CN104677405A (en) * | 2013-11-29 | 2015-06-03 | 丰田自动车株式会社 | Abnormality determination system and determination method thereof |
| CN103995534B (en) * | 2014-05-13 | 2016-07-20 | 北京华科数能科技发展有限公司 | The mobile route control system of crusing robot and control method |
| CN103995534A (en) * | 2014-05-13 | 2014-08-20 | 北京艾科尔明国际科技发展有限公司 | Mobile path control system and control method for patrolling robot |
| CN109074071A (en) * | 2016-03-31 | 2018-12-21 | 株式会社未来机械 | Work robot and edge detector |
| CN109074071B (en) * | 2016-03-31 | 2021-10-08 | 株式会社未来机械 | Work robot and edge detector |
| CN105739503A (en) * | 2016-04-13 | 2016-07-06 | 上海物景智能科技有限公司 | Turning method of walking robot and control device |
| CN105739503B (en) * | 2016-04-13 | 2018-06-01 | 上海物景智能科技有限公司 | A kind of method and control device of walking robot turn u-turn |
| CN106444808A (en) * | 2016-09-30 | 2017-02-22 | 海牧人（北京）科技有限公司 | Hull traversal method and hull traversal robot |
| CN106444808B (en) * | 2016-09-30 | 2019-04-16 | 张瑭 | A kind of hull traversal method and hull traverse robot |
| CN110276567A (en) * | 2018-03-14 | 2019-09-24 | 北京京东尚科信息技术有限公司 | The method and apparatus for checking ground region identification code based on automated guided vehicle |
| CN108627172A (en) * | 2018-04-26 | 2018-10-09 | 杭州晶智能科技有限公司 | A kind of indoor mobile robot traverse path planing method based on fingerprint map |
| CN108873892A (en) * | 2018-05-31 | 2018-11-23 | 杭州晶智能科技有限公司 | A kind of automatic dust absorption machine people's optimum path planning method based on path density analysis |
| CN108873892B (en) * | 2018-05-31 | 2022-02-01 | 广东乐生智能科技有限公司 | Automatic dust collection robot optimal path planning method based on path density analysis |
| CN109298718A (en) * | 2018-11-24 | 2019-02-01 | 珠海市微半导体有限公司 | The benefit of intelligent robot sweeps method and chip and intelligent robot |
| CN110260808A (en) * | 2019-05-30 | 2019-09-20 | 国网浙江宁波市鄞州区供电有限公司 | Deformation inspection device |
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Application publication date: 20130508 |