Research On The Design Of Pipeline Dredging And Multimodality Sensing Under The Fusion System

In order to reduce the incidence of internal hemorrhoids,municipal pipelines need to be dredged in time to ensure the drainage capacity of municipal pipelines.Manually dredging physical strength,low efficiency,accidents.such as explosions and deaths often occur.The diameter of some municipal pipelines is relatively small,and it is difficult for workers to reach the plugging sites.Only partial dredging is possible.To meet the high requirements of the robot's operating range and job adaptability,a human-machine-envir onmental fusion system with self-awareness,self-decision-making,self-execution,and self-adaptive capabilities for internal-external environment is applied to pipeline dredging operations.Man-machine-environment "talks" with each other to realize real-time information exchange and sharing.For the important part of the system,it is necessary to dredge the robot and complete the intelligent design.The main research content of this paper is divided into the following points:(1)In response to the current high requirements for the robot's operating range and job adaptability,a machine-machine communication,machine-environmental communication,man-machine coordination system is proposed.The hierarchical system and organizational structure composed of the reaction layer,network layer,deliberation layer,and supervisory cooperation layer are designed.Designing a hybrid communication model based on IOT(Internet of things)technology.Build human-comp uter interaction interface to achieve remote transmission of man-machine control and status information.Solving ZigBee Network Programs to Implement Machine-Machine State Class Information Sharing.Solve the image processing system and accurately complete the transformation of “machine-environment” information.The robot vision perception system,obstacle avoidance path optimization,traversal algorithm and other intelligent models are designed to form a typical application.Finally,the system was introduced into the pipeline dredging operation.(2)A pipeline dredge robot based on self-adaptive moving mechanism is proposed for the main component of the "human-machine-environmental communion" drainage system.Design a "screw nut + parallelogram" mechanism that allows the robot to adapt to changing pipe diameters within a certain range.Based on the principle of virtual work and virtual displacement,the mechanical characteristics of self-adjustment of pipeline dredge robots and the state of wheel movement when the robot walks in municipalpipelines are studied.Based on the Pro/E and ADAMS technologies,the independently developed pipeline dredge robots are co-simulated to study the movement characteristics of pipeline dredging robots in municipal pipelines,and the pre-tightening force and wheel diameter of the pre-tightening mechanism are optimized.(3)Aiming at the low level of intelligence caused by the poor robot perception ability,a multi-modal information transfer model for end-effector of pipeline dredge robot based on neuron TIC is proposed.Solving the Visual Perception System Based on Image Processing Technology.Solving Perceptual Awareness System by Fusion Adaptive Weighted Algorithm and Supporting Degree Algorithm.Solving Haptic Sensing System Based on Neural Network.End of the robot performs the adaptive path planning at the optimal moving speed and improves the efficiency of the dredging.The simulation results show that the multimodal perception model of pipeline dredge robot has certain feasibility and practicability.