Research On System Design And Motion Control Of Tube Interior Inspection And Cleaning Robot

A series of round and square tubes are a kind of equipment connecting the launcher and the supporting equipment,which generally need to be used for many times.They are distinguished by type from smooth round tubes and square tubes with rails and other accessories.As the tube will remain powder residue after use,it is necessary to clean the inner wall to meet the re-use.Traditional cleaning methods are time-consuming,costly and demanding for personnel.In order to solve this cleaning problem,the design and motion control technology of the tube inner wall inspection and cleaning robot system is carried out to reduce the manual work intensity and workload,and improve the cleaning effect and automation degree.In this paper,we analyze the functional requirements and design the overall scheme of the cylinder wall inspection and cleaning robot according to the demand of cylinder wall inspection and cleaning,design each functional module in detail and complete the system integration,establish the mathematical model of robot movement in the cylinder and simulate the robot scanning trajectory,and design the motion control algorithm based on fuzzy adaptive PID controller according to the results of mathematical model and simulation analysis.Based on the results of the mathematical model and simulation analysis,the motion control algorithm based on fuzzy adaptive PID controller was designed,and finally the prototype was piloted and experimented.The main contents include:System scheme design,this paper proposes a wheeled in-canister inspection and cleaning robot system scheme,which is based on a vehicle-type chassis,equipped with a shear lifting mechanism driven by an electric actuator to adjust the axis height of the laser cleaning device,through the axial propulsion mechanism to achieve the work-in-progress action,and the laser cleaning device itself rotary action to adapt to complete the spiral cleaning of rust and oil stains on the launch tube.Structure and control system design,according to the barrel wall inspection and cleaning robot system plan,for the physical cleaning device,motion chassis,lifting mechanism,axial work-in mechanism,control system and other modules of the functional requirements,the detailed design and component selection.The kinematic modeling and software design,the kinematic model of the cylinder wall robot and the virtual prototype simulation were established to obtain the motion law of the robot in the cylinder and the scanning curve of the laser cleaning device,and a motion control method for the cylinder wall robot was established based on this combined with the fuzzy control theory.Meanwhile,a laser cleaning effect detection method based on color segmentation is proposed,and the effectiveness of the recognition algorithm is verified by actual image data and offline simulation.The experimental prototype was built according to the system plan,and the robot was verified with the motion functions including linear walking,steering and positioning,radial height adjustment,axial work-in function and motion control function.Finally,based on the principle prototype,the engineering prototype was built and equipped with the laser cleaning device,which successfully completed the laser cleaning and inspection operation in the cylinder and met the requirements of the subject.