Control System And Overall Positioning Research Of Micro-pipe Robot

The micro-pipe robot is one of the means of pipeline, which the ratio of length anddiameter is relatively large, inspection and maintenance. It is currently the hot topics ofthe research areas of pipeline robot, along with appearing a large number of robotpositioning technology, including binocular stereo vision techniques, the forcemeasurement feedback technology, sensor technology, laser technology, etc.. Thispaper discusses the work principle and positioning method of various pipe robots athome and abroad, basis on that, A novel method of the pipeline robot localizationmethod has been proposed.Optimizing the structure of the spring clamping body locking mechanisms whichis located in the rear of the robot drive unit, and analyzing the optimized structure usingANSYS. Changing gear drive pretension institutions to thread connection pretensionensure no sliding between the spring clamp and spring, and also ensure the smoothrunning of the robot cell body, and then greatly reduce the positioning error whichcaused by external factors.Building two sets of the pipeline physical model with tetrafluoroethylene plastictube, which is in strict accordance with the dimensional requirements of the modeldesign for the robot operation. Through simulating the real shape of the3D pipeline, agood operating environment for the robot is provided, and I can assess the effectivenessand practicality of the robot.A robot control system is developed. the speed of robot is precisely regulated inthe range of0~4000mm/min by the movement control card in the computer; thissystem is equipped with high-definition cameras and LED lighting systems, whichenable the real-time image information for the robot environment can be clearly seen; Aminiature incremental optical encoder is carried in the robot cell body, it can collect thenumber of rotation of the central axis in the robot cell body through the encoder datasampling card, which realize the accurate positioning of the robot in pipeline model.The experimental system software is made. The most important part of software is:using OpenGL to redraw the pipeline in accordance with the ratio of1:1physical model, and replacing the cell body of robot with a color ball, so that the real-time operatingstatus of robot in the pipeline can be shown virtually; the experimental system softwareapply slider control of the Microsoft Visual C++6.0to visually change the speed of thedrive unit, however, the servo motor speed is continuously adjusted between-3000~3000r/min, it display the X, Y, Z coordinate information of the robot cell body in thepipe model simultaneously; independent visual control area of software can clearlycapture the current tube form, and can set the camera’s brightness, white balance andother hardware parameters; the experimental system software can also track the speedand run length of the drive unit and the robot cell in real time, so I can accurately graspof the sources of systematic error through comparative analysis of those data.The experimental system software contains two operating modes for robot.①According the camera image information to determine whether the robot shouldcontinue to run or not; this mode is used for the robot to complete initial flaw detect onthe pipe wall, and record image and coordinate information of key points.②The cellbody can reach the target location accurately by specifying X, Y, and Z coordinate; thismode can check the technical indexes of the key position in the pipeline effectively.With the entire robot system as the experimental platform, through analyzing theperformance of the robot system in the pipeline physical model, which is in strictaccordance with the dimensional requirements of the model design for the robotoperation, I get the prerequisite of the cell body running smoothly, and grasp the impactfactors of systematic positioning error accurately.