CN106051377A - Pipeline robot - Google Patents
Pipeline robot Download PDFInfo
- Publication number
- CN106051377A CN106051377A CN201610366560.8A CN201610366560A CN106051377A CN 106051377 A CN106051377 A CN 106051377A CN 201610366560 A CN201610366560 A CN 201610366560A CN 106051377 A CN106051377 A CN 106051377A
- Authority
- CN
- China
- Prior art keywords
- pipe robot
- robot
- communication module
- wireless communication
- carrying platform
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Classifications
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
- F16L55/00—Devices or appurtenances for use in, or in connection with, pipes or pipe systems
- F16L55/26—Pigs or moles, i.e. devices movable in a pipe or conduit with or without self-contained propulsion means
- F16L55/28—Constructional aspects
- F16L55/30—Constructional aspects of the propulsion means, e.g. towed by cables
- F16L55/32—Constructional aspects of the propulsion means, e.g. towed by cables being self-contained
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
- F16L55/00—Devices or appurtenances for use in, or in connection with, pipes or pipe systems
- F16L55/26—Pigs or moles, i.e. devices movable in a pipe or conduit with or without self-contained propulsion means
- F16L55/28—Constructional aspects
- F16L55/40—Constructional aspects of the body
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
- F16L2101/00—Uses or applications of pigs or moles
- F16L2101/30—Inspecting, measuring or testing
Landscapes
- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Mechanical Engineering (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a pipeline robot. The pipeline robot is characterized by comprising a pipeline robot body, a moving mechanism and a controller, the pipeline robot body is provided with a wireless communication module and a movement carrying platform; the moving mechanism comprises two driving wheels and two universal wheels; the controller is connected with the wireless communication module and the movement carrying platform, used for transmitting sensing information collected by a sensor set and video information collected by a video monitor through the wireless communication module and controls advancing of the driving wheels and rising and falling of the universal wheels. According to the pipeline robot, advancing is conducted through the two driving wheels, and the complexity of adjustment of the position and pose of the robot is reduced; the off-road stability of the robot is improved by using the two universal wheels, and the advancing capacity under complex states is improved. The pipeline robot conducts information interaction with an upper computer through the wireless communication module, advancing and loaded equipment of the robot are controlled in real time, the practical applicability is achieved; and the pipeline robot has the restoration performance, restoration operation can be conducted after working errors of the robot occur, and the robot continues to execute a task.
Description
Technical field
The present invention relates to robotics, particularly relate to a kind of pipe robot.
Background technology
Pipeline complexity is long and narrow, has minimum space, and manual operation has been difficult to.Pipe robot is because of its less body
Long-pending, carry multiple sensors and operation machinery, long-range controlling, be widely used in the detection of pipeline, clear up and detect a flaw.Existing
In technology, pipe robot mainly has the working morphologies such as wheeled, crawler type, fluid, stomach wall formula, creeping motion type.Wherein wheel type machine
People is most widely used.
The pose of each wheel of pleiotaxy pipe robot is uncertain, needs to set up its kinetics and kinesiology mould
Type, according to the geometrical constraint distribution on curved surface of the travel wheel of wheeled robot, between attitude coordinate and locus coordinate
Relation, confirms the kinetics relation of robot；Its power is determined according to the motion model in different control parameters and robot
Learn model, thus obtain the precision control algorithm of system.
Can increase, by increasing the number of wheel, the stability that pipe robot runs, improve cross-country ability, but can carry
The difficulty carrying out control algolithm promotes.The number reducing wheel can reduce the difficulty of control algolithm, but can bring the shakiness of traveling
Fixed.
Summary of the invention
It is an object of the invention to provide a kind of pipe robot, the present invention uses two drivewheels to advance, and reduces machine
The complexity of the adjustment of people's pose, uses two universal wheels to improve the stability that robot is cross-country, improves and go under complicated conditions
The ability entered, it is mutual that the present invention carries out information by wireless communication module and host computer, the traveling of real time control machine device people and taking
The equipment carried, has real world applications；The present invention has recoverability, can be reset operation after robot error of performance,
Continue executing with task.The technical scheme that the present invention provides is:
A kind of pipe robot, including:
Pipe robot body, is provided with wireless communication module and motion carrying platform, described motion carrying platform sets
It is equipped with sensor group and video monitor；
Travel mechanism, it includes two drivewheels and two universal wheels, and described drivewheel is arranged on described pipe robot body
Both sides, described universal wheel telescopically arranges both sides before and after described pipe robot body；
Controller, it is connected with described wireless communication module and motion carrying platform, by the sensing letter of described sensor group collection
The video information that breath and video monitor gather is led to described drivewheel by described wireless communication module transmission, described controller
Crossing motor connect and send on-off model control described drivewheel traveling, described controller is by steering wheel with described universal wheel even
The video information connect and gather according to described video monitor sends control instruction to control rising and falling of described universal wheel.
Preferably, described pipe robot, also include that Working mechanism, described Working mechanism are Three Degree Of Freedom machinery
Arm.
Preferably, in described a kind of pipe robot, described pipe robot body is additionally provided with collecting box.
Preferably, in described pipe robot, described Working mechanism is connected with described controller by steering wheel, institute
State controller and send control instruction control Working mechanism according to instruction execution action.
Preferably, in described pipe robot, described sensor group includes photoelectric sensor, angular-rate sensor
And gas sensor.
Preferably, in described pipe robot, described video monitor is holographic camera.
Preferably, in described pipe robot, described pipe robot passes through wireless communication module and host computer
The information of carrying out is mutual, and the heat transfer agent of sensor group collection and the video information of video monitor collection pass through wireless communication module
It is sent to described host computer.
Preferably, in described pipe robot, described host computer according to heat transfer agent and video information to described
Pipe robot sends control signal to control pipe robot action.
Preferably, in described pipe robot, described motion carrying platform is additionally provided with metal defect detection instrument and
Pipe-line cleaner.
Preferably, in described pipe robot, described steering wheel is connected with described universal wheel by connecting rod.
The invention has the beneficial effects as follows the number reducing pipe robot drivewheel, reduce kinetics and kinematics model is true
Fixed difficulty, reduces the difficulty controlled；Effectively reducing length of wagon, the change of mobile status is the easiest；Can be by universal
The adjustment of wheel Stable structure, the position of change center of gravity, improve the ability advanced under complicated conditions.The present invention passes through wireless telecommunications
It is mutual that module and host computer carry out information, and the traveling of real time control machine device people and the equipment of lift-launch have real world applications；This
Bright have recoverability, can be reset operation, continue executing with task after pipe robot error of performance；Robot has
Expansibility, can be set by the complementary platform on motion carrying platform and additional interface increase according to the demand of user oneself
Standby.
Accompanying drawing explanation
Fig. 1 is the structural representation of the present invention；
Fig. 2 is job control process schematic of the present invention.
Detailed description of the invention
The present invention is described in further detail below in conjunction with the accompanying drawings, to make those skilled in the art with reference to description literary composition
Word can be implemented according to this.
In conjunction with Fig. 1 and Fig. 2, a kind of pipe robot, including: pipe robot body, it is provided with wireless telecommunications mould
Block, collecting box and motion carrying platform 3, motion carrying platform 3 is provided with sensor group, video monitor 4, metal defect detection instrument
And pipe-line cleaner, sensor group includes photoelectric sensor, angular-rate sensor and gas sensor, and video monitor is holographic
Camera；Travel mechanism, it includes two drivewheels 1 and two universal wheels 2, and drivewheel 1 is arranged on pipe robot body both sides,
Universal wheel 2 telescopically arranges both sides before and after pipe robot body；Working mechanism 5, described Working mechanism is three freedom
Degree mechanical arm, controller 6, it is connected with wireless communication module and motion carrying platform, by the heat transfer agent of sensor group collection
The video information gathered with video monitor is connected by motor 7 with drivewheel 1 by wireless communication module transmission, controller 6
And sending on-off model control drivewheel traveling, controller 6 is connected and according to video monitor with universal wheel 2 by steering wheel 8
The video information gathered sends control instruction rising and falling with control universal wheel 2, and steering wheel 8 is connected with universal wheel by connecting rod；Wherein,
Working mechanism 5 is connected with controller 6 by steering wheel 8, and controller 6 sends control instruction control Working mechanism and performs according to instruction dynamic
Making, pipe robot carries out information alternately by wireless communication module and host computer, the heat transfer agent of sensor group collection and regarding
The video information of watch-dog collection frequently is sent to described host computer by wireless communication module, and host computer is according to heat transfer agent and regards
Frequently information sends control signal to control pipe robot action to described pipe robot.
When using the pipe robot of the present invention, send instruction of advancing, controller control by host computer to pipe robot
Motor rotation processed, thus drive drivewheel to operate, controller sends control instruction and drives universal wheel, universal wheel to steering wheel, steering wheel
Falling to ensure that pipe robot is stably carried out, the power supply of pipe robot uses high-capacity lithium battery, improves the continuous of robot
Boat ability, pipe robot passes through wireless communication module to host computer transmission speed, acceleration, gradient, battery remaining power
Etc. travel condition, host computer sends control signal according to these information and controls pipe robot action, machine to pipe robot
People has the speed that two kinds of mode of operation: A arrange according to host computer and carries out autonomous；B is controlled to advance by host computer rocking bar
And stopping.Robot has recovery mode, when pipe robot rollover occurs, stuck or program is made mistakes time can remotely send multiple
Former instruction, robot controller to universal wheel according to release command transmission control instruction, is packed up universal wheel stable state by steering wheel and is tied
Structure, treats that robot landing makes universal wheel Stable structure work to pipe to bottom again, works on after propping pipe robot.Fortune
Dynamic carrying platform carries the holographic camera collecting image, uses the direction of two axle cradle head control holography cameras to obtain omnidirectional regarding
Frequency monitoring, monitors pipe robot working condition.
Although embodiment of the present invention are disclosed as above, but it is not restricted in description and embodiment listed
Using, it can be applied to various applicable the field of the invention completely, for those skilled in the art, and can be easily
Realizing other amendment, therefore under the general concept limited without departing substantially from claim and equivalency range, the present invention does not limit
In specific details with shown here as the legend with description.
Claims (10)
1. a pipe robot, it is characterised in that including:
Pipe robot body, is provided with wireless communication module and motion carrying platform, described motion carrying platform sets
It is equipped with sensor group and video monitor；
Travel mechanism, it includes two drivewheels and two universal wheels, and described drivewheel is arranged on described pipe robot body
Both sides, described universal wheel telescopically arranges both sides before and after described pipe robot body；
Controller, it is connected with described wireless communication module and motion carrying platform, by the sensing letter of described sensor group collection
The video information that breath and video monitor gather is led to described drivewheel by described wireless communication module transmission, described controller
Crossing motor connect and send on-off model control described drivewheel traveling, described controller is by steering wheel with described universal wheel even
The video information connect and gather according to described video monitor sends control instruction to control rising and falling of described universal wheel.
2. a kind of pipe robot as claimed in claim 1, it is characterised in that also include Working mechanism, described Working mechanism
For three-freedom mechanical arm.
3. a kind of pipe robot as claimed in claim 1, it is characterised in that be additionally provided with on described pipe robot body
Collecting box.
4. a kind of pipe robot as claimed in claim 2, it is characterised in that described Working mechanism is by steering wheel and described control
Device processed connects, and described controller sends control instruction and controls Working mechanism according to instruction execution action.
5. a kind of pipe robot as claimed in claim 1, it is characterised in that described sensor group includes photoelectric sensor,
Angular-rate sensor and gas sensor.
6. a kind of pipe robot as claimed in claim 1, it is characterised in that described video monitor is holographic camera.
7. a kind of pipe robot as claimed in claim 1, it is characterised in that described pipe robot passes through wireless telecommunications mould
It is mutual that block and host computer carry out information, and the heat transfer agent of sensor group collection and the video information of video monitor collection pass through nothing
Line communication module is sent to described host computer.
8. a kind of pipe robot as claimed in claim 6, it is characterised in that described host computer is according to heat transfer agent and video
Information sends control signal to control pipe robot action to described pipe robot.
9. a kind of pipe robot as claimed in claim 1, it is characterised in that be additionally provided with gold on described motion carrying platform
Belong to crack detector and pipe-line cleaner.
10. a kind of pipe robot as claimed in claim 1, it is characterised in that described steering wheel is universal with described by connecting rod
Wheel connects.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610366560.8A CN106051377A (en) | 2016-05-30 | 2016-05-30 | Pipeline robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610366560.8A CN106051377A (en) | 2016-05-30 | 2016-05-30 | Pipeline robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106051377A true CN106051377A (en) | 2016-10-26 |
Family
ID=57175687
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610366560.8A Pending CN106051377A (en) | 2016-05-30 | 2016-05-30 | Pipeline robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106051377A (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108317336A (en) * | 2018-01-24 | 2018-07-24 | 肖香福 | A kind of pipe detection device that stable structure facility carries |
| CN108730677A (en) * | 2018-07-13 | 2018-11-02 | 唐山市中宇科技发展有限公司 | Multifunction remote-control visual pipeline robot crawling device |
| CN112728293A (en) * | 2020-12-21 | 2021-04-30 | 广东爱科环境科技有限公司 | Intelligent pipeline detection robot and control method thereof |
| CN114110303A (en) * | 2020-08-27 | 2022-03-01 | 广州中国科学院先进技术研究所 | Control method of long-distance water supply pipeline detection robot |
Citations (10)
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|---|---|---|---|---|
| DE9103527U1 (en) * | 1991-03-22 | 1991-06-27 | Denso-Chemie Wedekind Kg, 5090 Leverkusen | Device for detecting joints, cracks or similar in sewer pipes |
| CN2733358Y (en) * | 2004-09-09 | 2005-10-12 | 山东鲁能智能技术有限公司 | Heat exchanger heated surface pipe robot detection device |
| CN201042980Y (en) * | 2007-04-23 | 2008-04-02 | 南昌大学 | Castor floating structure for wheeled mobile welding robot |
| KR101043503B1 (en) * | 2010-02-05 | 2011-06-24 | 천윤토건 (주) | Apparatus of lining ceramic mortar |
| CN102380866A (en) * | 2011-09-13 | 2012-03-21 | 哈尔滨工程大学 | Transport security robot based on omnidirectional moving platform |
| CN102425708A (en) * | 2011-10-01 | 2012-04-25 | 洛阳理工学院 | Nondestructive flaw detection pipeline robot |
| CN102672703A (en) * | 2012-05-30 | 2012-09-19 | 哈尔滨工程大学 | Wheeled mobile service robot |
| CN104407614A (en) * | 2014-10-23 | 2015-03-11 | 河北工业大学 | Four-wheel type indoor mobile robot |
| CN104532948A (en) * | 2014-12-25 | 2015-04-22 | 漳州市锦成电力设备有限公司 | Pipeline robot with garbage smashing and collecting function |
| CN204355187U (en) * | 2014-12-23 | 2015-05-27 | 上海新松机器人自动化有限公司 | Curved surface adaptive safety precaution climbing robot device |
-
2016
- 2016-05-30 CN CN201610366560.8A patent/CN106051377A/en active Pending
Patent Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE9103527U1 (en) * | 1991-03-22 | 1991-06-27 | Denso-Chemie Wedekind Kg, 5090 Leverkusen | Device for detecting joints, cracks or similar in sewer pipes |
| CN2733358Y (en) * | 2004-09-09 | 2005-10-12 | 山东鲁能智能技术有限公司 | Heat exchanger heated surface pipe robot detection device |
| CN201042980Y (en) * | 2007-04-23 | 2008-04-02 | 南昌大学 | Castor floating structure for wheeled mobile welding robot |
| KR101043503B1 (en) * | 2010-02-05 | 2011-06-24 | 천윤토건 (주) | Apparatus of lining ceramic mortar |
| CN102380866A (en) * | 2011-09-13 | 2012-03-21 | 哈尔滨工程大学 | Transport security robot based on omnidirectional moving platform |
| CN102425708A (en) * | 2011-10-01 | 2012-04-25 | 洛阳理工学院 | Nondestructive flaw detection pipeline robot |
| CN102672703A (en) * | 2012-05-30 | 2012-09-19 | 哈尔滨工程大学 | Wheeled mobile service robot |
| CN104407614A (en) * | 2014-10-23 | 2015-03-11 | 河北工业大学 | Four-wheel type indoor mobile robot |
| CN204355187U (en) * | 2014-12-23 | 2015-05-27 | 上海新松机器人自动化有限公司 | Curved surface adaptive safety precaution climbing robot device |
| CN104532948A (en) * | 2014-12-25 | 2015-04-22 | 漳州市锦成电力设备有限公司 | Pipeline robot with garbage smashing and collecting function |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108317336A (en) * | 2018-01-24 | 2018-07-24 | 肖香福 | A kind of pipe detection device that stable structure facility carries |
| CN108730677A (en) * | 2018-07-13 | 2018-11-02 | 唐山市中宇科技发展有限公司 | Multifunction remote-control visual pipeline robot crawling device |
| CN108730677B (en) * | 2018-07-13 | 2024-03-26 | 唐山市中宇科技发展有限公司 | Multifunctional wireless remote control visual pipeline robot crawler |
| CN114110303A (en) * | 2020-08-27 | 2022-03-01 | 广州中国科学院先进技术研究所 | Control method of long-distance water supply pipeline detection robot |
| CN114110303B (en) * | 2020-08-27 | 2023-08-08 | 广州中国科学院先进技术研究所 | Control method for long-distance water supply pipeline detection robot |
| CN112728293A (en) * | 2020-12-21 | 2021-04-30 | 广东爱科环境科技有限公司 | Intelligent pipeline detection robot and control method thereof |
| CN112728293B (en) * | 2020-12-21 | 2023-10-27 | 广东爱科环境科技有限公司 | Intelligent pipeline detection robot and control method thereof |
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| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20161026 |