CN113176746A - Head controller and control method of water supply pipeline leak detection robot - Google Patents

Head controller and control method of water supply pipeline leak detection robot Download PDF

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CN113176746A
CN113176746A CN202110419650.XA CN202110419650A CN113176746A CN 113176746 A CN113176746 A CN 113176746A CN 202110419650 A CN202110419650 A CN 202110419650A CN 113176746 A CN113176746 A CN 113176746A
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water supply
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leak detection
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CN113176746B (en
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陈双叶
胡海
管巫浩
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Beijing University of Technology
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    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00—Programme-control systems
    • G05B19/02—Programme-control systems electric
    • G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
    • G05B19/042—Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
    • G05B19/0423—Input/output
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/20—Pc systems
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Abstract

The invention discloses a water supply pipeline leakage detection robot head controller and a control method. The controller is small in size, all signals are combined into optical signals by using a signal conversion module, and the optical signals are transmitted through thin and light optical fibers; the controller is added with an attitude calculation module to calculate the pose change of the robot in real time, so that the upper computer performs direction correction during video display, and the displayed video is always in a calibrated positive direction; the invention provides an image-based control method, and an operator can change the position of the head of a water supply pipe network leak detection robot by clicking an image inside a pipeline displayed in real time in upper computer software and selecting an area suspected of leaking points or an interested area, so that a camera is aligned to a target area, thereby being simple, convenient and quick.

Description

Head controller and control method of water supply pipeline leak detection robot
Technical Field
The invention relates to the technical field of control, in particular to a water supply pipeline leakage detection robot head controller and a control method.
Background
Pipeline transportation is the most basic transportation mode of tap water, natural gas and the like, and pipelines which are communicated with the ground are distributed in all cities. However, as the service life increases, the pipeline may be corroded and damaged, which may result in waste of resources. Therefore, the pipeline needs to be detected and maintained in time. The pipeline robot enables pipeline detection to be more convenient and accurate. Pipeline robots tend to be rigid structures, large in size and in severe contact with the environment. The difficult problem of pipeline robot work in narrow tiny pipeline has been solved in appearance of snake-shaped pipeline robot, and its structure is very inseparable, and the degree of freedom is also high, and the focus remains throughout in minimum position during operation, does not worry the problem of toppling, but when using snake-shaped robot to obtain the inside video image of pipeline, often because the actual direction of video image is confused in the upset of pipeline inside self to snake-shaped robot, can cause the influence to the leak hunting location like this.
Usually, a controller for controlling the pose of the pipeline robot is arranged at the head of the robot, and an operator remotely uses an upper computer to send an instruction to the controller through a serial port signal so as to control the pose of the robot. Often the cable of robot is heavier, and the power of robot can only pull the cable of certain length, has restricted the distance that the robot patrolled and examined like this.
Disclosure of Invention
The invention has proposed a water supply pipe leak hunting robot head controller and control method, the controller is small, can install in the small-scale pipeline robot, the controller combines network signal and serial port signal into the optical signal and transmits the signal through 1 thin and light optic fibre; the controller is added with an attitude calculation module, calculates the pose change of the robot in real time, and transmits the pose change to an upper computer in real time to correct the direction during video display, so that the displayed video image is always in a calibrated positive direction; and the control method based on the controller is provided, so that an operator can change the pose of the head of the water supply pipeline leak detection robot by clicking the image inside the pipeline displayed in real time on the pipeline comprehensive detection system software and selecting the area with suspected leak points or the interested area, and the camera is aligned to the target area, thus being simple, convenient and quick.
The invention adopts the following technical scheme:
the invention designs a water supply pipeline leak detection robot head controller and a control method, the controller is characterized by comprising a CPU, a motor driving circuit, a video processing circuit, a signal conversion circuit, a communication circuit, an LED control circuit, a power circuit and an attitude calculation module, wherein the CPU is used for receiving signals sent by other circuits and generating control signals to control other circuits; the power supply circuit is used for converting a 24V power supply sent by a cable into a power supply voltage suitable for a CPU; the CPU is connected with the motor driving circuit and is used for directly controlling the motor; the video processing circuit is mainly connected with the camera at the head and is used for coding the image of the camera; the communication circuit is connected with the CPU and the signal conversion circuit and is used for receiving and transmitting data of the CPU; the signal conversion circuit is connected with the CPU and the video processing module and is used for converting the serial port signal and the network signal into optical signals; the LED control circuit is connected with the CPU, and the CPU directly controls the on-off and the brightness of the LED after receiving the instruction.
The CPU central processing unit is an STM32F103 series single chip microcomputer of Italian semiconductor company, and controls other circuits to work through input and output signals of each port of the single chip microcomputer.
The motor driving circuit consists of four driving chips and respectively controls four speed reducing stepping motors, and the connections of IN11, IN12, IN21 and IN22 of the four motor driving chips and the CPU are PA 4-PA 7 of a PA port, PA 8-PA 11 and PB 4-PB 7 and PB 12-PB 15 of a PB port respectively; the OUT11, OUT12, OUT21 and OUT22 pins of the chip are connected with four phases of the speed-reducing stepping motor, and the CPU outputs the pins to the motor driving chip according to a specified phase sequence to control the motor.
The communication circuit comprises a half-duplex transceiver chip SP3485, RO pins and DI pins of the chip are respectively connected with PA2 and PA3 of the CPU, and transceiver enable pins of the chip are connected with PA1 of the CPU. Read is active when PA1 outputs a high, and write is active when a low. The A, B pin of the chip is connected to the signal conversion circuit.
The LED control circuit comprises a voltage reduction controller LM3409 capable of driving a high-power LED, an EN pin of the voltage reduction controller LM3409 is connected with PB3 of a CPU and used for controlling the on and off of light, an IADJ pin is connected with PA15 of the CPU, and the CPU outputs PWM waves on PA15 to control the brightness of the light.
The video processing circuit is directly connected with the camera and the signal conversion circuit, and is used for receiving the image of the camera, encoding the image, transmitting the image through a network signal and finally outputting the image to the signal conversion circuit for signal conversion.
The attitude resolving module comprises a six-axis gyroscope MPU6050, wherein an SDA pin of the gyroscope is connected to a PB11 pin of the CPU, and an SCL pin is connected to a PB10 of the CPU; the gyroscope is used for calculating the deflection angle of the robot, communicating the value of the deflection angle through the IIC, transmitting data into the CPU to be converted into character string data, then transmitting the character string data to the upper computer, and adjusting a display picture, so that the direction of the real-time display picture is the same as the actual direction in the pipeline, and the control of the robot is facilitated.
The signal conversion circuit is equivalent to a data transfer station, and uniformly converts an RS485 serial port signal of the communication circuit and a video network signal of the video processing circuit into an optical signal, so that the signal transmission is facilitated and the weight of a cable is reduced.
The system supplies power by using a cable, after voltage reduction and voltage stabilization are carried out by a power supply circuit, the system supplies power, an operator sends an instruction by using an upper computer, the instruction is converted into an optical signal in the upper computer part, and the optical signal is transmitted to a signal conversion module of a controller and converted into a serial port signal to be communicated with a CPU; the CPU unpacks and analyzes a frame of data to obtain an instruction, then performs corresponding operation, and controls an LED lamp through an LED control circuit or operates a motor through a motor driving module to change the head posture of the robot.
The control method comprises a conventional operation method and a simple operation method. The conventional operation method is that the head posture of the robot is controlled through a direction key control interface on the upper computer, and the direction key control interface comprises eight keys, namely an upper key, a lower key, a left key, a right key, an upper right key, a lower right key, an upper left key and a lower left key. The simple and convenient operation method is to control the head pose of the water supply pipeline leak detection robot by clicking the image displayed by the upper computer software in real time.
The invention provides a water supply pipeline leak detection robot head controller and a control method, which have the beneficial effects that: the controller of the invention is integrated and designed, and has small volume; an attitude resolving module is added, so that the problem of inconvenient control in an upper computer caused by deflection of the robot in the running process is solved; and an image-based control method is provided in the upper computer control, and an operator can change the pose of the head of the water supply pipeline leak detection robot and aim the camera at a target area by clicking the image in the pipeline displayed in real time on the pipeline comprehensive detection system software and selecting an area with suspected leak points or an interested area. At present, few pipeline detection equipment which is small in size and special for underwater high-pressure environment, can be controlled autonomously and can transmit back videos in real time exist in the market, and few controllers and control methods of the equipment exist, and the patent can fill the blank.
Drawings
FIG. 1 is a schematic view of a head attitude control structure of a water supply pipeline leak detection robot;
fig. 2 is a system block diagram of a pipeline robot control system according to the present invention.
Fig. 3 is a camera model coordinate diagram.
FIG. 4 is a map of an image coordinate system to a camera coordinate system.
Detailed Description
The present invention will be described in detail below with reference to the accompanying drawings.
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
Referring to fig. 1, the water supply pipeline leak detection robot head control structure comprises a vision cabin and a control cabin, wherein a camera and an LED lamp are respectively installed in the vision cabin; the control cabin is connected with the vision cabin through a spring, a cable penetrates through the middle of the spring, and four pull ropes and protective hoses thereof are uniformly distributed around the spring; the control cabin is respectively provided with a controller and motors, the controllers drive the four motors, one end of the pull rope is connected with the motors, the other end of the pull rope is connected with the vision cabin, and the posture position of the vision cabin is controlled by the difference of the lengths of the pull ropes of the motors; the controller comprises a CPU, a motor driving circuit, a video processing circuit, a signal conversion circuit, a communication circuit, an LED control circuit, a power circuit and an attitude resolving module.
Referring to fig. 2, the power supply of the controller is supplied by an external 24V cable, and the power supply is supplied after the voltage of the power supply circuit is stabilized; the upper computer comprises an attitude control interface and a control interface of an LED lamp, an operator sends an instruction to the CPU through the upper computer, the signal is transmitted to the signal conversion circuit through an optical fiber, the circuit converts an optical signal into a serial port signal and transmits the serial port signal to the communication circuit, the communication circuit directly transmits the signal to the CPU, the CPU executes corresponding operation after receiving the instruction, for example, when receiving an attitude change instruction, the upper computer sets a high level and a low level for the input of a driving chip in the motor driving circuit, the driving motor operates to change the length of a pull rope, and then the attitude of the robot is correspondingly changed; and after receiving an instruction for controlling the LED lamp, the CPU outputs PWM waves to an IADJ pin of an LM3409 chip in the LED control circuit so as to control the brightness of the LED lamp. The camera is directly connected with a video processing circuit, the circuit carries out coding operation on a video signal and can divide the video signal into a main code stream and an auxiliary code stream, the resolution of the main code stream is up to 5M (2592 × 1944), when the network is not smooth, the auxiliary code stream can be used, and the resolution is 704 × 576; the video processing circuit directly outputs network video signals to the signal conversion circuit, converts the network signals into optical signals, and transmits the optical signals to the upper computer through the optical fibers for video display. The attitude deflection data obtained by the attitude resolving module can be transmitted to the CPU through IIC communication, the CPU converts the shaping data into character string data and transmits the character string data to the upper computer through the communication circuit and the signal conversion circuit, and the upper computer can adjust the displayed image after receiving the data, so that the upper part of the displayed image is the actual upper part in the pipeline. The operator can observe the internal condition of the pipeline more conveniently.
The control method based on the direction key is a basic control mode, the keys comprise eight keys, namely, upper, lower, left, right, upper right, lower right, upper left and lower left, the robot is controlled in a single step by clicking the keys by an operator, and because a displayed image is subjected to specific processing, the upper part of the image display is the actual upper part in a pipeline and is not the upper part of the originally calibrated robot, direction errors can be caused by direct operation, and therefore a CPU can correct an instruction by using data obtained by an attitude resolving module; this is the most basic and simplest way of control.
The image-based control method is to change the pose of the pipeline robot head by clicking on the image from reaching the expected position that we want to get. When a suspected leak is detected, we want this leak to be displayed in the center of the image, i.e. the camera is aimed at the leak. The specific principle is as follows:
a homogeneous transformation matrix between the two guiding discs can be obtained by kinematic modeling of the robot:
Figure BDA0003027406580000041
wherein theta is the angle between the upper section and the lower section,
Figure BDA0003027406580000042
is the angle r between the deflection plane and the x-axisiIs the radius of curvature.
The spatial parameters theta,
Figure BDA0003027406580000043
riExpression for cord length:
Figure BDA0003027406580000044
Figure BDA0003027406580000045
Figure BDA0003027406580000046
in order to make the rope variation more understandable, the configuration space parameter theta,
Figure BDA0003027406580000047
riAboutExpression of the amount of change in the cord:
Figure BDA0003027406580000048
Figure BDA0003027406580000049
Figure BDA00030274065800000410
by substituting the three equations into the homogeneous transformation matrix, the mapping relation T (Δ l) between the amount of change Δ l in the pull cord and the position T of the attitude of the guide disk can be obtained. The kinematics of the robot whole body is multiplied by T (delta l) by using a chain rule to obtain a homogeneous transformation matrix of the whole body:
Figure BDA00030274065800000411
the above formula shows a mapping relationship between the amount of change Δ l of the rope and the position of the overall posture of the robot.
The euler angle in space at which the head end of the robot can be found can be expressed as:
Figure BDA0003027406580000051
Figure BDA0003027406580000052
Figure BDA0003027406580000053
the spatial position coordinates of the head end of the robot are as follows:
P＝(px，py，pz)
as shown in fig. 3, f is the focal length, and we will make the imaging plane symmetrical to the front of the camera for simplifying the model, which is more convenient for understanding. When a leakage point P (x, y) inside the pipeline is found or the P point is moved to the center of the image, the coordinates (x, y) of the P point are obtained by clicking the image, and as can be seen from FIG. 4, the point P can be taken by the camera around the y pointcThe shaft rotates by an angle of beta and then winds by an angle of xcThe shaft is rotated an angle alpha to the center point. In this way, the angle at which the camera coordinate system needs to be deflected can be calculated:
Figure BDA0003027406580000054
Figure BDA0003027406580000055
assuming that the origin of the camera coordinate system is coincident with the origin of the head motion coordinate system, the Euler angle of the camera attitude, namely the robot head attitude, is obtained, the position which can be reached by pulling the rope can be calculated by the calculated change amount of the robot pull rope and the integral homogeneous transformation matrix T of the head attitude, and then the motor is driven to carry out attitude transformation.
The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art should be considered to be within the technical scope of the present invention, and the technical solutions and the inventive concepts thereof according to the present invention should be equivalent or changed within the scope of the present invention.

Claims (8)

1. The utility model provides a water supply pipe leak hunting robot head controller which characterized in that: the controller comprises a CPU central processing unit, a motor driving circuit, a video processing circuit, a signal conversion circuit, a communication circuit, an LED control circuit and a power circuit; the attitude calculation module is also included, wherein the CPU is used for receiving signals sent by other circuits and generating control signals to control other circuits; the power supply circuit converts a 24V power supply sent by a cable into a power supply voltage suitable for a central processing unit of the CPU; the CPU central processing unit is connected with the motor driving circuit and is used for directly controlling the motor; the video processing circuit is mainly connected with the camera at the head and is used for coding the image of the camera; the communication circuit is connected with the CPU and the signal conversion circuit and is used for receiving and transmitting data of the CPU; the signal conversion circuit is connected with the CPU and the video processing module and is used for converting the serial port signal and the network signal into optical signals; the LED control circuit is connected with the CPU, and the CPU directly controls the on-off and the brightness of the LED control circuit after receiving the instruction; the communication circuit comprises a half-duplex transceiver chip SP3485, RO and DI pins of the chip are respectively connected with PA2 and PA3 of the CPU, and a transceiver enable pin of the chip is connected with PA1 of the CPU; the attitude calculation module comprises a six-axis gyroscope MPU6050, wherein an SDA pin of the gyroscope is connected to a PB11 pin of the CPU, and an SCL pin is connected to a PB10 pin of the CPU.
2. The water supply pipeline leak detection robot head controller according to claim 1, wherein: the CPU central processing unit is an STM32F103 series single chip microcomputer, and controls other circuits to work through input and output signals of each port of the single chip microcomputer.
3. The water supply pipeline leak detection robot head controller and the control method according to claim 2, wherein: the motor driving circuit consists of four driving chips and respectively controls four speed reducing stepping motors, and the connections of IN11, IN12, IN21 and IN22 of the four motor driving chips and the CPU are PA 4-PA 7 of a PA port, PA 8-PA 11 and PB 4-PB 7 and PB 12-PB 15 of a PB port respectively; the OUT11, OUT12, OUT21 and OUT22 pins of the chip are connected with four phases of the speed-reducing stepping motor, and the CPU outputs the pins to the motor driving chip according to a specified phase sequence to control the motor.
4. The water supply pipeline leak detection robot head controller according to claim 3, wherein: when the PA1 outputs high level, the read is effective, and when the low level is effective, the write is effective; the A, B pin of the chip is connected to the signal conversion circuit.
5. The water supply pipeline leak detection robot head controller and the control method according to claim 1, wherein: the LED control circuit comprises a voltage reduction controller LM3409 for driving the high-power LED, an EN pin is connected with PB3 of the CPU and used for controlling the light on-off, an IADJ pin is connected with PA15 of the CPU, and the CPU outputs PWM waves on PA15 to control the light brightness.
6. The water supply pipeline leak detection robot head controller according to claim 5, wherein: the gyroscope is used for calculating the deflection angle of the robot, communicating the value of the deflection angle through the IIC, transmitting data into the CPU to be converted into character string data, then transmitting the character string data to the upper computer, and adjusting a display picture, so that the direction of the real-time display picture is the same as the actual direction in the pipeline, and the control of the robot is facilitated.
7. The water supply pipeline leak detection robot head controller according to claim 6, wherein: comprises the conventional operation method; the conventional operation method is characterized in that the head posture of the robot is controlled through a direction key control interface on an upper computer, and the direction key control interface comprises eight keys, namely an upper key, a lower key, a left key, a right key, an upper right key, a lower right key, an upper left key and a lower left key; the simple and convenient operation method is to control the head pose of the water supply pipeline leak detection robot by clicking the image displayed by the upper computer software in real time.
8. The water supply pipeline leak detection robot head controller according to claim 7, wherein: based on image control, an operator only needs to click an image inside the pipeline displayed in real time on upper computer software, and selects an area with suspected leakage points or an interested area, so that the pose of the head of the water supply pipeline leakage detection robot can be changed, and the camera is aligned to a target area.
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Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102348068A (en) * 2011-08-03 2012-02-08 东北大学 Head gesture control-based following remote visual system
CN107329483A (en) * 2017-09-06 2017-11-07 天津理工大学 The detecting robot of pipe system and method for work of a kind of view-based access control model technology
CN108363415A (en) * 2018-03-29 2018-08-03 燕山大学 A kind of vision remote control servomechanism and method applied to underwater robot
CN112007921A (en) * 2020-08-27 2020-12-01 华东送变电工程有限公司 Control system of dredging and cleaning robot suitable for cable pipeline

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102348068A (en) * 2011-08-03 2012-02-08 东北大学 Head gesture control-based following remote visual system
CN107329483A (en) * 2017-09-06 2017-11-07 天津理工大学 The detecting robot of pipe system and method for work of a kind of view-based access control model technology
CN108363415A (en) * 2018-03-29 2018-08-03 燕山大学 A kind of vision remote control servomechanism and method applied to underwater robot
CN112007921A (en) * 2020-08-27 2020-12-01 华东送变电工程有限公司 Control system of dredging and cleaning robot suitable for cable pipeline

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