Traversal path planning method of pipeline robot

Abstract

Disclosed is a traversal path planning method of a pipeline robot. The pipeline robot comprises a car frame. Two driving wheels, two driving wheel motor, a supporting wheel, a forward-looking obstacle detection sensor, a side-looking obstacle detection sensor, , a step detection sensor, and a processor are arranged on the car frame, wherein the two driving wheel motor and the supporting wheel are connected with the driving wheels, the forward-looking obstacle detection sensor is arranged in the front of the car frame, the side-looking obstacle detection sensor is arranged at side of the car frame, the step detection sensor is arranged at the bottom of the car frame, and the processor is used for intensively control. Free motion of the processor is achieved through respectively set of speed and direction of the two driving wheels and the processor can detect distance of obstacles in front and at side. A characteristic signal identification device is arranged in the pipeline robot. The characteristic signal identification device is connected with the processor to identifies characteristic signals of starting point. With the traversal path planning method of the pipeline robot, different strategies are designed according to different positions of pipelines to guide the pipeline robot to walk along a pipeline wall, and thus traversal process in the pipeline can be achieved.

Description

technical field [0001] The invention relates to a traversal path planning method for a pipeline robot, which belongs to the field of automatic control. Background technique [0002] For the pipeline network, such as central air-conditioning pipeline network, gas pipeline network, etc., because of its long extension length and intricate distribution, it brings great difficulties to maintenance, detection and cleaning. [0003] At present, the master-slave mode is mainly used. The master is the master computer located outside the pipeline, and the slave is the robot car located inside the pipeline. The master computer and the robot car are connected with power cables and communication cables. The power cable provides power to the robot car, and the communication cable is responsible for transmitting the control instructions of the main control computer to the robot car, and transmitting the information collected by the robot car to the main control computer. The advantage of ...

AI Technical Summary

Problems solved by technology

The advantage of this working mode is that the structure is simple, the technical difficulty is small, and it is easy to implement. However, due to the limitation of the length of the cable, the robot car cannot go deep into the inside of the pipeline.

For example, in order to be able to clean each part of the central air-conditioning pipeline, openings must be made on the pipeline every fixed length, and put into the robot car. Obviously, this treatment method not only causes damage to the air-conditioning pipeline, but also the efficiency Very low, sometimes may affect production work

Images