CN116513334A - Magnetic adsorption robot device for multi-sensor fusion map building and navigation - Google Patents
Magnetic adsorption robot device for multi-sensor fusion map building and navigation Download PDFInfo
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- CN116513334A CN116513334A CN202310544366.4A CN202310544366A CN116513334A CN 116513334 A CN116513334 A CN 116513334A CN 202310544366 A CN202310544366 A CN 202310544366A CN 116513334 A CN116513334 A CN 116513334A
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- 238000001179 sorption measurement Methods 0.000 title claims abstract description 82
- 230000004927 fusion Effects 0.000 title description 18
- 230000006698 induction Effects 0.000 claims abstract description 23
- 239000000523 sample Substances 0.000 claims abstract description 23
- 229910000831 Steel Inorganic materials 0.000 claims abstract description 20
- 239000010959 steel Substances 0.000 claims abstract description 20
- 238000009423 ventilation Methods 0.000 claims abstract description 17
- 238000005259 measurement Methods 0.000 claims abstract description 11
- 210000001503 joint Anatomy 0.000 claims description 33
- 230000000007 visual effect Effects 0.000 claims description 30
- 238000013507 mapping Methods 0.000 claims description 23
- 238000000034 method Methods 0.000 claims description 18
- 238000012876 topography Methods 0.000 claims description 14
- 230000008569 process Effects 0.000 claims description 7
- 230000005415 magnetization Effects 0.000 claims description 6
- 238000005096 rolling process Methods 0.000 claims description 6
- 238000009434 installation Methods 0.000 claims 2
- 230000005389 magnetism Effects 0.000 claims 1
- 239000011159 matrix material Substances 0.000 claims 1
- 230000009194 climbing Effects 0.000 abstract description 4
- 230000006978 adaptation Effects 0.000 abstract description 2
- 239000000463 material Substances 0.000 description 6
- 238000010276 construction Methods 0.000 description 3
- 238000001514 detection method Methods 0.000 description 3
- 230000005021 gait Effects 0.000 description 3
- 230000001174 ascending effect Effects 0.000 description 2
- 239000000203 mixture Substances 0.000 description 2
- 230000004888 barrier function Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000012937 correction Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000001914 filtration Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012216 screening Methods 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/024—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members specially adapted for moving on inclined or vertical surfaces
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60D—VEHICLE CONNECTIONS
- B60D1/00—Traction couplings; Hitches; Draw-gear; Towing devices
- B60D1/14—Draw-gear or towing devices characterised by their type
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60D—VEHICLE CONNECTIONS
- B60D1/00—Traction couplings; Hitches; Draw-gear; Towing devices
- B60D1/24—Traction couplings; Hitches; Draw-gear; Towing devices characterised by arrangements for particular functions
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- 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
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0257—Control of position or course in two dimensions specially adapted to land vehicles using a radar
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0259—Control of position or course in two dimensions specially adapted to land vehicles using magnetic or electromagnetic means
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0268—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means
- G05D1/027—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means comprising intertial navigation means, e.g. azimuth detector
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- 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
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Abstract
The invention provides an adsorption pipeline robot which comprises a head part, two middle joints and a tail part, wherein the joints are connected by using a U-shaped connecting piece, so that the magnetic adsorption pipeline robot has more degrees of freedom, and various terrain adaptations in a ventilation pipeline are realized; the permanent magnets are used for covering the surfaces of the driving wheel and the auxiliary wheel, so that the magnetic adsorption pipeline robot has a vertical climbing function; the magnetic adsorption pipeline robot is provided with a monocular camera, a single-line laser radar, an inertial measurement unit and a magnetic induction probe, so that the drawing and navigation functions of the magnetic adsorption pipeline robot in the steel ventilation pipeline environment are realized.
Description
Technical Field
The invention relates to the technical field of robots, in particular to a magnetic adsorption pipeline robot.
Background
With the rapid development of the economy in China, the number of high-rise buildings in cities is increasing, and the popularization of central air conditioners and fresh air systems enables ventilation pipelines to be widely applied to large buildings. In order to ensure the air quality in the building, the ventilation pipeline needs to be regularly detected and cleaned, but special pipeline terrains such as steps, grooves, circular arcs, three-fork curves and the like exist in the ventilation pipeline, so that the problems of low efficiency and the like exist in the process of manually working are caused, and the pipeline robot can well assist in solving the problems.
To realize autonomous operation, the pipeline robot needs to have sensing capability to the surrounding environment and the position of the pipeline robot. The single sensor can be influenced by the material and structure of the ventilating duct when working in the ventilating duct made of steel materials, so that the accuracy is reduced, and the problems of building a map and navigating in the ventilating duct by using a multi-sensor fusion map building and navigating scheme are solved. At present, the pipeline robot has the common problems of complex structure, weak load capacity, incapability of carrying multiple sensors and incapability of adapting to various terrains.
Therefore, a pipeline robot with a simple structure and strong load capacity and adapting to various terrains is required to realize the multi-sensor fusion map building and navigation functions.
Disclosure of Invention
In order to overcome the defects, the invention provides the magnetic adsorption pipeline robot for building and navigating the ventilating pipeline, which has a simple structure, can be provided with a plurality of sensors, and can actively change the structure of the robot to adapt to different ventilating pipeline terrains.
In order to achieve the above purpose, the present invention provides the following technical solutions:
the device comprises a head, two middle joints and a tail, wherein the head is provided with a single-line laser radar, a monocular camera, a magnetic induction probe, electromagnetic clutch, two driving motors and two driving wheels, the middle joints are provided with two auxiliary wheels, electromagnetic clutch, a steering engine, a battery and a steering engine fixing frame, the tail is provided with a control circuit, a steering engine fixing frame, two driving motors and two driving wheels, the connection modes among the head, the two middle joints and the tail are the same, and the two middle joints are all connected through a U-shaped connecting piece, the steering engine and an electromagnetic clutch adapter.
The two sides of the head part and the tail part are respectively provided with a left driving motor and a right driving motor, each driving motor is provided with a driving wheel, and the driving wheels are contacted with the pipe wall of the ventilating pipe to provide power and adsorption force; two sides of the two middle joints are respectively provided with a left auxiliary wheel and a right auxiliary wheels, and the auxiliary wheels are contacted with the pipe wall of the ventilating pipe to provide adsorption force; the driving motor controls the head and tail to do differential motion, so that the magnetic adsorption pipeline robot turns in the ventilation pipeline; the driving wheel and the auxiliary wheel can realize the vertical climbing function of the magnetic adsorption pipeline robot due to the adsorption force generated by the steel materials.
The electromagnetic clutch is arranged in the head, the two middle joints and the tail, the electromagnetic clutch is connected with the electromagnetic clutch adaptor, the electromagnetic clutch adaptor is connected with the U-shaped connector, the relative rotation among the head, the two middle joints and the tail is controlled by controlling the electromagnetic clutch switch, the limiting device on the electromagnetic clutch adaptor is adjusted, the relative rolling angle among the head, the two middle joints and the tail is controlled, and the electromagnetic clutch adaptor is used for adapting to various terrains in a pipeline.
The magnetic adsorption pipeline robot is characterized in that: the driving wheel comprises a driving wheel hub and permanent magnets, wherein the permanent magnets are arranged in grooves on the left side and the right side of the hub, and a mounting hole is formed in the center of the driving wheel hub and connected with a driving motor.
The magnetic adsorption pipeline robot is characterized in that: the auxiliary wheel comprises an auxiliary wheel hub and a permanent magnet, the permanent magnet is arranged in a groove on the auxiliary wheel, and the center of the auxiliary wheel hub is provided with a mounting hole which is connected with the middle joint.
The monocular camera is used for acquiring color information in a pipeline environment, the single-line laser radar is used for acquiring geometric depth information of the environment, the inertial measurement unit is used for acquiring motion information of the magnetic adsorption pipeline robot, the magnetic induction probe is used for acquiring magnetic field intensity information of a steel ventilating pipeline and is used for realizing multi-sensor fusion map building and navigation functions of the magnetic adsorption pipeline robot, and the multi-sensor fusion map building and navigation functions of the magnetic adsorption pipeline robot comprise a positioning map building module and an autonomous navigation module.
The positioning map building module is used for sensing and positioning the magnetic adsorption pipeline robot in an unknown steel ventilating duct environment and building a grid map for navigation, and comprises the following components: the system comprises a magnetic positioning map building module, a laser positioning map building module, a visual positioning map building module and a map alignment algorithm.
The magnetic positioning map building module is based on magnetic induction probe composition, and magnetic induction probe is used for obtaining magnetization information of the magnetic adsorption wheel on the steel pipe wall, wherein the magnetization information comprises a magnetic path and a magnetic mark, and the magnetic path and the magnetic mark are collected to complete the construction of a global magnetic map.
The laser positioning mapping module is based on a single-line laser radar and an inertial measurement unit, acquires data of the single-line laser radar and the inertial measurement unit by using a Cartographer algorithm, downsamples the data of each frame of laser radar through a filter, eliminates point cloud data with too small position movement distance or relatively short time interval, then enters a local map to construct and obtain the pose of the magnetic adsorption pipeline robot, then fuses the data of the inertial measurement unit to optimize pose estimation, completes construction of a global two-dimensional grid map,
the visual positioning and mapping module is based on monocular camera composition, acquires monocular camera data by using an ORB-SLAM2 algorithm, performs inter-frame matching on ORB characteristic points, realizes positioning and obtaining pose of the magnetic adsorption pipeline robot, constructs a three-dimensional point cloud map and reserves word bag information.
The map alignment algorithm comprises the following steps: single-line laser radar and monocular camera calibration, pose replacement algorithm. The single-line laser radar and the monocular camera are calibrated to be in a position relation between calibration sensors, and the pose replacement algorithm is to replace the pose of the magnetic adsorption pipeline robot generated by the visual positioning and mapping module with the pose of the magnetic adsorption pipeline robot of the visual positioning and mapping module in the adjacent time, so that the alignment of the two-dimensional grid map and the three-dimensional point cloud map is realized.
The pose replacement algorithm is to replace the pose of the magnetic adsorption pipeline robot with the current time stamp, which is acquired by the ORB-SLAM2 algorithm in the visual positioning mapping module, by using the position generated by the Cartograph algorithm in the visual positioning mapping module close to the time stamp in a linear interpolation mode.
The autonomous navigation module includes: and the path planning module, the special topography recognition module and the autonomous obstacle surmounting module in the pipeline, so that the magnetic adsorption pipeline robot can finally autonomously move from the current position to the target position in the steel ventilation pipeline environment.
The path planning module performs global matching according to current visual information and bag-of-word information, performs magnetic adsorption pipeline robot repositioning to achieve current position calibration, uses an A-algorithm to start searching a path from the current position to a target point to generate a global path, removes redundant turning points from the generated path, optimizes the path, performs local path planning by using a dynamic window method when the magnetic adsorption pipeline robot interacts with a steel ventilating duct environment, achieves dynamic obstacle avoidance, achieves path following by acquiring magnetic induction probe data, and determines that the current path is a walking path when a map is built.
And the special topography recognition module in the pipeline performs feature recognition on image information acquired by the monocular camera by using a YOLOv5 algorithm, so that the type recognition of ascending, descending, left turning, right turning and barriers in the steel ventilating pipeline is realized.
The autonomous obstacle surmounting module enables the magnetic adsorption pipeline robot to autonomously select proper gait to complete autonomous obstacle surmounting after acquiring the type of the special topography of the current ventilating pipeline output by the special topography recognition module in the pipeline.
Compared with the prior art, the invention has the beneficial effects that:
the invention provides a magnetic adsorption pipeline robot, which simplifies a mechanical structure through a modularized design thought, is connected among joints by using U-shaped connectors, so that the magnetic adsorption pipeline robot has more degrees of freedom, realizes the adaptation to various terrains in a ventilating pipeline, uses permanent magnets to cover the surfaces of driving wheels and auxiliary wheels, realizes the vertical climbing function of the magnetic adsorption pipeline robot, is provided with a monocular camera, a single-line laser radar, an inertial measurement unit and a magnetic induction probe, acquires the magnetic path and a magnetic mark left by the magnetic adsorption wheel on the ventilating pipeline made of steel by using the magnetic induction probe, obtains the actual motion path of the magnetic adsorption pipeline robot, and realizes the navigation map building of the magnetic adsorption pipeline robot on the environment of the ventilating pipeline made of unknown steel by using a more mature and higher-precision cartograph algorithm in combination with an ORB-SLAM2 algorithm, thereby effectively improving the efficiency and accuracy of the magnetic adsorption pipeline robot during autonomous navigation repositioning. In the autonomous navigation process, the magnetic adsorption pipeline robot relocates according to the three-dimensional point cloud map of the ventilating pipeline generated by the visual positioning and mapping module, and the initial position is calibrated; automatically generating a global path for navigation according to the two-dimensional grid map of the ventilating duct, the initial position and the target point position generated by the laser positioning mapping module; in the navigation process, a dynamic window method is used for carrying out dynamic obstacle avoidance, path following is realized by acquiring magnetic induction probe data, a walking path is determined when a current path is a map building, and a target detection algorithm is used for identifying special topography of the ventilating duct, so that the autonomous obstacle crossing of the pipeline robot is realized. By the method, accurate mapping and autonomous navigation of the magnetic adsorption pipeline robot in the pipeline are realized.
Drawings
FIG. 1 is a schematic diagram of a magnetic attraction pipe robot according to an embodiment of the disclosure;
FIG. 2 is a schematic illustration of a magnetic attraction pipe robot head and intermediate joint structure in accordance with an embodiment of the disclosure;
FIG. 3 is a schematic view of a U-shaped connector of a magnetic attraction pipe robot according to an embodiment of the disclosure;
FIG. 4 is a schematic illustration of an electromagnetic clutch adapter structure of a magnetic attraction pipe robot according to an embodiment of the disclosure;
FIG. 5 is a flow chart of main steps of a magnetic attraction pipe robot mapping and navigation based on multi-sensor fusion according to an embodiment of the disclosure;
FIG. 6 is a flow chart of the main steps of a magnetic attraction piping robot map based on multi-sensor fusion according to an embodiment of the present disclosure;
FIG. 7 is a flowchart of the main steps of a magnetic attraction pipe robot navigation based on multi-sensor fusion according to another embodiment of the present disclosure.
Detailed Description
The invention will be further described with reference to the drawings and the specific embodiments, but the scope of the invention is not limited thereto.
In the description of the present invention, it should be understood that the directions or positional relationships indicated by the terms "upper", "lower", "front", "rear", etc. are based on the directions or positional relationships shown in the drawings, and are merely for convenience of description of the present invention, and should not be construed as limiting the present invention; the terms "mounted," "connected," "secured," and the like are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected, directly connected, indirectly connected via an intermediate medium, or communicating between two elements. The specific meaning of the above terms in the present invention can be understood by those of ordinary skill in the art according to the specific circumstances.
Referring to fig. 1, fig. 1 is a magnetic adsorption pipeline robot, which comprises a head, two middle joints and a tail, wherein the head is provided with a single-line laser radar 1, a monocular camera 2, a magnetic induction probe 3, an electromagnetic clutch 4, two driving motors 5 and two driving wheels 6, the middle joints are provided with two auxiliary wheels 7, an electromagnetic clutch 4, a steering engine 8, a battery and a steering engine fixing frame 9, the tail is provided with a control circuit, the steering engine 8, the steering engine fixing frame 9, two driving motors 5 and two driving wheels 6, the connection modes among the head, the two middle joints and the tail are the same, and all the joints are connected through a U-shaped connecting piece 10, the steering engine 8 and an electromagnetic clutch adapter 11.
The two sides of the head are symmetrically provided with driving motors 5, the rear end of the inside of the head is provided with an electromagnetic clutch 4 and a magnetic induction probe 3, the front end of the inside of the head is provided with a monocular camera 2, and the upper part of the head is provided with a single-line laser radar 1; the two middle joints are of the same structure, the electromagnetic clutch 4 is arranged at the rear end of the inside of the middle joint, the steering engine fixing frame 9 is arranged at the front end of the middle joint, and a battery is placed in an inner hollow groove; the driving motor 5 is symmetrically arranged on two sides of the tail, the steering engine fixing frame 9 is arranged at the front end inside the tail, and the control circuit is arranged in the hollow groove.
Referring to fig. 2 to 4, an electromagnetic clutch 4 of the head of the magnetic adsorption pipeline robot shown in fig. 2 is connected with a U-shaped connecting piece 10 and a rolling bearing through an electromagnetic clutch adapter 11, so that the transverse rolling motion of the head relative to the U-shaped connecting piece 10 is realized, the rotation of the head relative to the U-shaped connecting piece 10 is controlled through controlling a switch of the electromagnetic clutch 4, the transverse rolling angle of the head relative to the U-shaped connecting piece 10 is limited through adjusting a limiting device on the electromagnetic clutch adapter 11, mounting holes on the left side and the right side of the U-shaped connecting piece 10 are connected with a steering engine 8, a middle joint steering engine fixing frame 9 is connected with the steering engine 8, the steering engine 8 is fixed with a middle joint, and the pitching motion of the head relative to the middle joint is realized through adjusting the angle of the steering engine 8; the connection modes between the two middle joints and between the middle joint and the tail are the same as the head and the middle joint, and are not repeated.
The U-shaped connecting piece 10 among the head, the two middle joints and the tail of the magnetic adsorption pipeline robot enables each joint of the magnetic adsorption pipeline robot to have the functions of rolling, pitching and rotating and is used for adapting to various ventilation pipeline terrains.
The driving wheel 6 comprises a driving wheel hub and a permanent magnet, and a mounting hole is formed in the center of the driving wheel hub and connected with the driving motor 5. The permanent magnets are arranged in grooves at the left side and the right side of the hub, two permanent magnets can be arranged at the left groove and the right groove of the hub, and only one permanent magnet can be arranged at the other positions.
The auxiliary wheel 7 comprises an auxiliary wheel hub and a permanent magnet, and the center of the auxiliary wheel hub is provided with a mounting hole which is connected with the middle joint. The permanent magnets are arranged in grooves on the hub, two permanent magnets can be arranged at one deep groove position on the hub, and one permanent magnet can be arranged at the other groove positions.
The adsorption force of the driving wheel 6 and the auxiliary wheel 7 on the steel material can realize the vertical climbing function of the magnetic adsorption pipeline robot.
The driving motors 5 are connected with the tail control circuit, are directly powered by the battery, drive the magnetic adsorption pipeline robot to move, and the control circuit at the turning position of the ventilating duct realizes the steering function of the magnetic adsorption pipeline robot by adjusting the rotating speeds of the driving motors 5 at the two sides of the magnetic adsorption pipeline robot and using differential motion.
The single-line laser radar 1, the monocular camera 2 and the magnetic induction probe 3 are used for realizing the multi-sensor fusion map building and navigation functions of the magnetic adsorption pipeline robot, and the multi-sensor fusion map building and navigation functions of the magnetic adsorption pipeline robot enable the magnetic adsorption pipeline robot to realize the map building function under the ventilation pipeline environment with unknown steel materials, and realize the autonomous navigation function of the magnetic adsorption pipeline robot under the ventilation pipeline environment with the steel materials according to the map building result.
Referring to fig. 2, fig. 2 is a schematic flow chart of main steps of map building and navigation of a magnetic adsorption pipeline robot based on multi-sensor fusion, and the method includes: a pipeline robot mapping method based on multi-sensor fusion; a pipeline robot navigation method based on multi-sensor fusion.
The multi-sensor fusion-based pipeline robot mapping method is used for positioning and constructing a navigation map of a magnetic adsorption pipeline robot in an unknown steel ventilating duct environment, and comprises the following steps: the navigation map comprises a magnetic positioning map building module, a laser positioning map building module, a visual positioning map building module and a map alignment algorithm, wherein the navigation map comprises: two-dimensional grid map, three-dimensional point cloud map.
The magnetic positioning map building module acquires a magnetic path and a magnetic mark of a magnetic adsorption wheel on a steel ventilating duct by using a magnetic induction probe 3 to obtain an actual motion path of the magnetic adsorption pipeline robot, the laser positioning map building module is used for positioning the magnetic adsorption pipeline robot based on a single-line laser radar 1 and an inertial measurement unit to construct a two-dimensional grid map, the visual positioning map building module is used for positioning the magnetic adsorption pipeline robot based on a monocular camera 2 to construct a three-dimensional point cloud map, and the map alignment algorithm is used for replacing the pose of the visual positioning map building module with the pose of the laser positioning map building module to realize alignment of the two-dimensional grid map and the three-dimensional point cloud map.
Referring to fig. 3, fig. 3 is a main step flow chart of a magnetic adsorption pipeline robot map building method based on multi-sensor fusion, wherein the magnetic positioning map building module collects magnetic paths and magnetic marks left by magnetic adsorption wheels on a steel ventilating pipeline by using a magnetic induction probe 3 according to sensor information, outputs magnetic positioning and magnetic maps, a visual positioning map building algorithm subscribes to color image information of a monocular camera 2 according to the sensor information, outputs visual positioning pose and visual word bag information, a laser positioning algorithm subscribes to single-line laser radar 1 and inertial measurement unit information according to the sensor information, outputs laser positioning pose and grid map, replaces the pose of the visual positioning map building module according to the visual positioning pose and the laser positioning pose information, uses the pose of the laser positioning map building module as a main building three-dimensional point cloud map, performs alignment building on the map according to the robot pose, a two-dimensional grid map, the three-dimensional point cloud map and the map alignment in the process of the magnetic adsorption pipeline robot map building, updates the map according to the robot pose, the map alignment algorithm and the map alignment map, and updates the map in real-time in the process of the adsorption pipeline robot map according to the local navigation algorithm.
The magnetic positioning map building module is formed based on a magnetic induction probe 3, and the magnetic induction probe 3 is used for obtaining magnetization information of the magnetic adsorption wheel on the steel pipe wall, wherein the magnetization information comprises a magnetic path and a magnetic mark, and the magnetic path and the magnetic mark are collected to complete the construction of a global magnetic map.
The laser positioning map building module acquires two sensor data of a laser radar and an inertial measurement unit by using a Cart0 imager algorithm, downsampling is carried out on each frame of laser radar data through a filter, point cloud data with too small position moving distance or relatively short time interval is removed, if the frame of scanning data can be updated into a subgraph through filtering, then local map building is carried out to obtain the pose of the magnetic adsorption pipeline robot, then pose estimation is optimized by fusing the inertial measurement unit data, and when the subgraph building is completed and new scanning data is not received any more, the map is added into a global map building to form global constraint for participating in loop detection of the rear end.
The visual positioning and mapping module acquires monocular camera 2 data by using an ORB-SLAM2 algorithm, selects a proper frame as a key frame through a common view relation among frames, updates the key frame and a local map point, deletes mismatching according to pose, stores the key frame and the map point to be used as a basis for executing repositioning or selecting the key frame, writes the key frame into a key frame list, optimizes pose of the local map point and the key frame through a new key frame, finishes screening and adding the map point, and finally deletes redundant key frames, and reduces accumulated errors through correction of loop detection.
The map alignment algorithm comprises the following steps: the single-line laser radar 1 and the monocular camera 2 are calibrated, and the pose is replaced by an algorithm.
The single-line laser radar 1 and the monocular camera 2 are calibrated to establish the position relation between the sensors, and the pose replacement algorithm is to replace the pose of the magnetic adsorption pipeline robot generated by the visual positioning and mapping module with the pose of the magnetic adsorption pipeline robot of the visual positioning and mapping module in the adjacent time, so that the alignment of the two-dimensional grid map and the three-dimensional point cloud map is realized.
The pose replacement algorithm is to replace the pose of the magnetic adsorption pipeline robot with the current time stamp, which is acquired by the ORB-SLAM2 algorithm in the visual positioning mapping module, by using the position generated by the Cartograph algorithm in the visual positioning mapping module close to the time stamp in a linear interpolation mode.
Referring to fig. 4, fig. 4 is a main step flow chart of a multi-sensor fusion-based pipeline robot navigation, wherein the multi-sensor fusion-based pipeline robot navigation flow chart is that a magnetic adsorption pipeline robot performs global matching according to visual information and word bag information to obtain a repositioning current position, a path planning module is used for planning a global path from the current position to a target position based on a two-dimensional grid map, a local path of the pipeline robot is dynamically adjusted according to obstacles in the autonomous navigation process of the magnetic adsorption pipeline robot, path following is realized by acquiring data of a magnetic induction probe 3, a walking path is determined when the current path is a map building, characteristic recognition is performed on special topography of a pipeline by using a YOLOv5 algorithm, and the magnetic adsorption pipeline robot autonomously selects a proper gait planning according to the topography type to complete obstacle crossing, so that the magnetic adsorption pipeline robot can finally autonomously navigate from the current position to the target position in a ventilation pipeline environment.
The path planning module performs global matching according to the current visual information and the word bag information output by the visual positioning and mapping module, achieves repositioning of the magnetic adsorption pipeline robot in the environment, achieves current position calibration, starts searching a path from the current position to a target point by using an A-type algorithm to generate a global path, removes redundant turning points for the generated path, optimizes the path, performs local path planning by using a dynamic window method when the magnetic adsorption pipeline robot interacts with the environment, achieves dynamic obstacle avoidance, achieves path following by acquiring data of the magnetic induction probe 3, and determines that the current path is a walking path when mapping.
The special topography recognition module in the pipeline performs feature recognition on the image information acquired by the monocular camera 2 by using a YOLOv5 algorithm, so that semantic information of an object and the position of the object in the image can be recognized, and the semantic information of the object comprises the types of ascending, descending, left turning, right turning and obstacle in the ventilation pipeline.
The autonomous obstacle surmounting module enables the magnetic adsorption pipeline robot to autonomously select proper gait to complete autonomous obstacle surmounting after acquiring the type of the special topography of the current ventilating pipeline output by the special topography recognition module in the pipeline.
The examples are preferred embodiments of the present invention, but the present invention is not limited to the above-described embodiments, and any obvious modifications, substitutions or variations that can be made by one skilled in the art without departing from the spirit of the present invention are within the scope of the present invention.
Claims (10)
1. A magnetism adsorbs pipeline robot for ventilation duct is built drawing and is navigated, its characterized in that: including head, two middle joints and afterbody, head installation single line laser radar (1), monocular camera (2), magnetic induction probe (3), electromagnetic clutch (4), two driving motor (5), two drive wheels (6), two auxiliary wheel (7), electromagnetic clutch (4), steering wheel (8), battery, steering wheel mount (9) are all installed to the middle joint, afterbody installation control circuit, steering wheel (8), steering wheel mount (9), two driving motor (5), two drive wheels (6), and the head, the connected mode between two middle joints and the afterbody is the same, all connects through U type connecting piece (10), steering wheel (8), electromagnetic clutch adaptor (11).
2. The magnetic attraction pipe robot of claim 1, wherein: the two sides of the head part and the tail part are respectively provided with a left driving motor (5) and a right driving motor (5), each driving motor (5) is provided with a driving wheel (6), and the driving wheels (6) are contacted with the pipe wall of the ventilating duct to provide power and adsorption force. Two auxiliary wheels (7) are arranged on two sides of the two middle joints, and the auxiliary wheels (7) are contacted with the pipe wall of the ventilating pipeline to provide adsorption force. The driving motor (5) controls the head and tail to do differential motion, so as to realize the turning of the magnetic adsorption pipeline robot in the ventilation pipeline.
3. The magnetic attraction pipe robot of claim 1, wherein: the electromagnetic clutch (4) is arranged in the head, the two middle joints and the tail, the electromagnetic clutch (4) is connected with the electromagnetic clutch adaptor (11), the electromagnetic clutch adaptor (11) is connected with the U-shaped connector (10), the relative rotation among the head, the two middle joints and the tail is controlled by controlling the switch of the electromagnetic clutch (4), and the relative rolling angle among the head, the two middle joints and the tail is controlled by adjusting the limiting device on the electromagnetic clutch adaptor (11).
4. The magnetic attraction pipe robot of claim 2, wherein: the driving wheel (6) comprises a driving wheel hub and permanent magnets, the permanent magnets are arranged in grooves on the left side and the right side of the hub, and a mounting hole is formed in the center of the driving wheel hub and connected with the driving motor (5).
5. The magnetic attraction pipe robot of claim 2, wherein: the auxiliary wheel (7) comprises an auxiliary wheel hub and a permanent magnet, the permanent magnet is arranged in a groove on the auxiliary wheel (7), and a mounting hole is formed in the center of the auxiliary wheel hub and connected with the middle joint.
6. The magnetic attraction pipe robot of claim 1, wherein: the single-line laser radar (1) is used for acquiring geometric depth information of the environment, the inertial measurement unit is used for acquiring motion information of the magnetic adsorption pipeline robot, and the magnetic induction probe (3) is used for acquiring magnetic field intensity information of the steel ventilating pipeline magnetized by the magnetic adsorption wheel.
7. The magnetic attraction pipe robot of claim 1, wherein: the positioning map building module comprises a magnetic positioning map building module, a laser positioning map building module and a visual positioning map building module, wherein the magnetic positioning map building module is formed based on a magnetic induction probe (3), magnetization information of a magnetic adsorption wheel left on a steel pipe wall is obtained by using the magnetic induction probe (3), the magnetization information comprises a magnetic path and a magnetic mark, the magnetic path and the magnetic mark are collected, a global magnetic map is built, the laser positioning map building module is used for positioning the magnetic adsorption pipeline robot in an unknown ventilation pipeline environment and building a two-dimensional grid map for navigation, the visual positioning map building module is used for building a three-dimensional point cloud map for navigation repositioning and word bag information of the magnetic adsorption pipeline robot in the unknown ventilation pipeline environment, and the map alignment algorithm is used for aligning the two-dimensional grid map output by the laser positioning map building module with the three-dimensional point cloud map output by the visual positioning map building module in the known ventilation pipeline environment.
8. The magnetic attraction pipe robot of claim 7, wherein: the positioning map building module comprises a path planning module and a special topography recognition module in a pipeline, wherein the path planning module is used for generating a global path from a starting point to a target point by the pipeline robot, local path planning is carried out according to local obstacles in the autonomous navigation process of the pipeline robot to realize autonomous obstacle avoidance, path following is realized by acquiring data of a magnetic induction probe (3), the current path is determined to be a walking path when map building is carried out, the special topography recognition module in the pipeline is used for recognizing the special topography type existing in the pipeline by the pipeline robot, and the autonomous obstacle crossing module is used for realizing autonomous obstacle crossing by the pipeline robot according to the special topography type.
9. The magnetic attraction piping robot of claim 7, wherein: the map alignment algorithm comprises a single-line laser radar (1) and monocular camera (2) calibration and pose replacement algorithm. The single-line laser radar (1) and the monocular camera (2) are calibrated to establish a position corresponding relation between the single-line laser radar (1) and the monocular camera (2), and the pose replacement algorithm is to replace the pose of the robot generated by the visual positioning mapping module with the pose of the robot of the visual positioning mapping module in the adjacent time, so that the alignment of the two-dimensional grid map and the three-dimensional point cloud map is realized.
10. The magnetic attraction piping robot of claim 7, wherein: the calibration method of the single-line laser radar (1) and the monocular camera (2) is to solve the rotation matrix of the single-line laser radar (1) and the monocular camera (2) by searching three-dimensional points of the single-line laser radar (1) and two-dimensional points detected by the corresponding monocular camera (2). The pose replacement algorithm method is to replace the pose of the robot with the current time stamp acquired by the ORB-SLAM2 algorithm in the visual positioning mapping module by using the position generated by the Cartograph algorithm in the laser positioning mapping module close to the time stamp in a linear interpolation mode.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN117429526A (en) * | 2023-12-22 | 2024-01-23 | 广东工业大学 | High-mobility wheel type climbing robot |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN117429526A (en) * | 2023-12-22 | 2024-01-23 | 广东工业大学 | High-mobility wheel type climbing robot |
| CN117429526B (en) * | 2023-12-22 | 2024-02-20 | 广东工业大学 | High-mobility wheel type climbing robot |
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