Design And Implementation Of The Miniature Quadruped Robot For Underground Pipelines

As one of the important infrastructures for urban construction and industrial production,underground pipeline facilities have brought great convenience to human daily life and production.However,with the increase of underground pipelines,external influences such as corrosion of the inner wall of the pipeline or geological disasters,underground pipes often have damaged,perforated,or broken pipes,etc.causing huge economic losses to humans as well as serious environmental pollution in nature.Thus,this paper presents design scheme of quadruped robot for underground pipelines.The hardware and software design are also given.Besides,the gait motion planning,position data filtering and redrawing of track are also discussed and researched.Firstly,focusing on the real-time control problem of the quadruped robot working in the underground pipelines,this paper designs the miniature quadruped robot control system,which addresses the real-time control problem of robots working in the cramped space.Besides,the details of hardware and software design in control system are introduced.Moreover,robot communication system is also designed,which addresses problems of attitude data acquisition and real-time control,thus achieving the seamless connectivity between the robots and monitoring system.Second,based on the mathematical model of the quadruped robot,the mechanical structure of the robot leg was analyzed,and the forward kinematics and reverse kinematics models of the leg structure were established.Based on the theoretical knowledge of the common quadruped robot's movement gait and the actual situation of the quadruped robot,a static gait motion method suitable for the quadruped robot for underground pipelines is designed.Finally,in view of the inaccuracy of trajectory in underground pipeline inspection,the cause of the error of trajectory is analyzed.This paper proposes a method of noise filtering and trajectory redrawing for the quadruped robot position data based on multiple sensor information.Using the improved Kalman filter to filter out noise and eliminate the noise effect caused by the sensor's data collection,combined with the motion trajectory positioning and deduction method,the four-foot robot motion trajectory map of the pipeline is accurately redrawn.This paper implements the hardware and software design of the quadruped robot system for underground pipelines,and builds an experimental platform to verify the designed system structure of the quadruped robot,gait planning,position data filtering and trajectory repainting.