Back-stepping Control And Motion System Design Of Urban Underground Pipeline Inspection Robot

As the urban underground pipeline is characterized by large quantity,wide varieties,as well as distinct old and new levels,it is difficult to carry out detection,location and maintenance work.It severely hindered the construction of urban underground pipeline and the development of urbanization in China's "13th Five-Year Plan" process.Therefore,the research of urban underground plumbing robot,as a new strategy,instead of manual operation,to reduce the labor intensity and improve the work efficiency,plays a significant role in drain cleaning and pipeline maintenance.In this paper,the researches on the physical engineering problems in the development of the underground pipeline monitoring robot system was carried out.The main contents can be seen as follows: Firstly,the basic theory of back-stepping control was introduced.Starting with the kinematics and dynamics analysis of pipe robot,pipeline robot motion system and dynamic inversion control model was built.The simulation analysis of the robot trajectory tracking was carried out by setting the straight line path and "S" shape path.The results showed that the controller designed by the back-stepping control method has the remarkable effect in the completion of the piping robot trajectory tracking,and it was able to achieve the function of real-time correction.Secondly,the slip problem of pipeline robot was studied.On the basis of the slip rate and the discussion of the relationship between towing force,towing distance and towing speed,as well as the friction coefficient between the cable and ground contact,the dynamics model of the pipeline robot was established.After simulating the actual operating conditions,the mechanism of the sliding mechanism between the wheels and the ground was studied.It provided the solution for the problem of robot slippage in the detecting process.Finally,the overall scheme of the pipeline robot system was designed with the requirements of the underground city pipeline and Pipeline robot movement back-stepping control method.Moreover,the robot design,motion control system and the experimental prototype were finally completed.The effectiveness of the back-stepping motion control method and the stability of the load operation of the robot belt were verified by doing robot tracing and drawing experiments.