CN106041925A - System for measuring advancing distance of pipeline robot - Google Patents
System for measuring advancing distance of pipeline robot Download PDFInfo
- Publication number
- CN106041925A CN106041925A CN201610366561.2A CN201610366561A CN106041925A CN 106041925 A CN106041925 A CN 106041925A CN 201610366561 A CN201610366561 A CN 201610366561A CN 106041925 A CN106041925 A CN 106041925A
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- China
- Prior art keywords
- acceleration
- signal
- motor
- sensor
- travel distance
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Program-controlled manipulators
- B25J9/16—Program controls
- B25J9/1628—Program controls characterised by the control loop
- B25J9/1653—Program controls characterised by the control loop parameters identification, estimation, stiffness, accuracy, error analysis
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Program-controlled manipulators
- B25J9/16—Program controls
- B25J9/1602—Program controls characterised by the control system, structure, architecture
- B25J9/161—Hardware, e.g. neural networks, fuzzy logic, interfaces, processor
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Program-controlled manipulators
- B25J9/16—Program controls
- B25J9/1628—Program controls characterised by the control loop
- B25J9/1651—Program controls characterised by the control loop acceleration, rate control
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Program-controlled manipulators
- B25J9/16—Program controls
- B25J9/1674—Program controls characterised by safety, monitoring, diagnostic
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Program-controlled manipulators
- B25J9/16—Program controls
- B25J9/1679—Program controls characterised by the tasks executed
- B25J9/1684—Tracking a line or surface by means of sensors
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
- Physics & Mathematics (AREA)
- Artificial Intelligence (AREA)
- Evolutionary Computation (AREA)
- Fuzzy Systems (AREA)
- Mathematical Physics (AREA)
- Software Systems (AREA)
- Gyroscopes (AREA)
Abstract
The invention discloses a system for measuring the advancing distance of a pipeline robot. The system comprises a motor, a motor driver, a sensor and a controller, wherein the motor generates a Hall pulse signal according to the movement state of the pipeline robot; the motor driver receives and transmits the Hall pulse signal; the sensor collects an acceleration data signal and an angular velocity data signal of operation of the motor; the controller is connected with the motor driver and receives the Hall pulse signal, and the controller is connected with the sensor and receives the acceleration data signal and the angular velocity data signal and comprises a judging module and a calculating module; and the judging module generates a judging signal according to the Hall pulse signal, and the calculating module works out the operating distance of the robot according to the judging signal, the acceleration data signal and the angular velocity data signal. According to the system for measuring the advancing distance of the pipeline robot, a no-cable mode is adopted, inconvenience caused by cable hauling is avoided, and the advancing resistance of the robot is also decreased; an acceleration sensor and a gyroscope sensor are combined with the machine motor, so that the calculated distance is more accurate; and operation is simple, and the data error is small.
Description
Technical field
The present invention relates to a kind of measurement pipe robot travel distance system.
Background technology
Common range finding is divided into cable and untethered, has cable mode by robot cable in tow according to the flexible length of cable
Degree determines its distance, and the method attachment device is too many, and pull stretch to advance to robot and bring certain resistance；Commonly
Untethered mode uses acceleration transducer to realize range finding, and it is applicable on smooth ground apply, but foreign material in pipeline
More, ground out-of-flatness, and due to the noise jamming of sensor self so that the data that robot single pass sensor records
Error is excessive.
Summary of the invention
The present invention is in order to overcome above deficiency, it is provided that a kind of pipe robot travel distance system of measuring, present invention employing
Design a kind of robot measurement based on acceleration transducer, gyro sensor and Hall step-by-step counting pipeline internal enter away from
From, in pipeline, situation is complicated, and internal foreign material or breakage are more so that robot can not be maintained at a plane when advancing
On, it is worth error very big if only relying on the travel distance that acceleration transducer obtains, and due to the noise of sensor self
Interference, even if robot is static, acceleration still has numerical value, thus causes the accumulation of error, designs for this present invention and passes at six axles
The method that motor Hall step-by-step counting judges robot motion's state is combined on the basis of sensor, low cost, simple to operate, and data
Error is little.
The technical scheme that the present invention provides is:
A kind of measurement pipe robot travel distance system, including:
Motor, it produces Hall pulse signal according to the kinestate of pipe robot；
Motor driver, it is connected with described motor, receives described Hall pulse signal and transmits；
Sensor, it is six axle sensors, and it is connected with described motor, gathers acceleration and the angular velocity data letter of motor rotation
Number；
Controller, it is connected and receives described Hall pulse signal, described controller and described sensing with described motor driver
Device connects and receives described acceleration and angular velocity data signal, and described controller includes judge module and computing module, described
Judge module produces according to Hall pulse signal and judges signal and be sent to described computing module, and described computing module is according to described
Judge that signal and described acceleration and angular velocity data signal calculate robot range ability.
Preferably, in described measurement pipe robot travel distance system, described six axle sensors include three axles
Acceleration transducer and three-axis gyroscope sensor.
Preferably, in described measurement pipe robot travel distance system, described computing module includes filtering meter
Calculate unit, coordinate transformation unit and integral and calculating unit.
Preferably, in described measurement pipe robot travel distance system, described filtering computing unit is
Kalman filter computing unit.
Preferably, in described measurement pipe robot travel distance system, described coordinate transformation unit is quaternary
Number conversion unit.
Preferably, in described measurement pipe robot travel distance system, described filtering computing unit is to described
The acceleration of sensor acquisition and angular velocity data signal are filtered estimating and are calculated acceleration filtering numerical value, and described coordinate turns
Changing unit acceleration filters numerical value to be converted into acceleration coordinate components value, described integral and calculating unit is sat according to described acceleration
Mark component value and judging unit judge that signal calculates the travel distance of robot.
The invention has the beneficial effects as follows that the present invention uses acceleration transducer, gyro sensor and Hall step-by-step counting to survey
Amount robot enters distance at pipeline internal, use the mode of untethered, it is to avoid cable pulls the inconvenience brought, and decreases machine
The running resistance of people, is combined acceleration transducer and gyro sensor with machine motor so that the distance of calculating is more accurate
Really, the present invention is simple to operate, and error in data is little.
Accompanying drawing explanation
Fig. 1 is the module connection diagram of the present invention；
Fig. 2 is the workflow schematic diagram of the present invention.
Detailed description of the invention
The present invention is described in further detail below in conjunction with the accompanying drawings, to make those skilled in the art with reference to description literary composition
Word can be implemented according to this.
In conjunction with Fig. 1 and Fig. 2, the present invention provides a kind of and measures pipe robot travel distance system, including: motor, its root
Hall pulse signal is produced according to the kinestate of pipe robot；Motor driver, it is connected with motor, receives Hall pulse letter
Number and transmit；Sensor, it is six axle sensors, and it is connected with motor, gathers acceleration and the angular velocity data of motor rotation
Signal；Controller, it is connected with motor driver and receives Hall pulse signal, and controller is connected with sensor and receives acceleration
Degree and angular velocity data signal controller include judge module and computing module, it is judged that module produces according to Hall pulse signal to be sentenced
Break signal is also sent to computing module, and computing module is according to judging that signal and acceleration and angular velocity data signal calculate machine
People's range ability.Wherein, six axle sensors include 3-axis acceleration sensor and three-axis gyroscope sensor, and computing module includes
Filtering computing unit, coordinate transformation unit and integral and calculating unit.Filtering computing unit is Kalman filter computing unit, coordinate
Converting unit is quaternary number conversion unit, and filtering computing unit is to the acceleration of described sensor acquisition and angular velocity data signal
Being filtered estimating and be calculated acceleration filtering numerical value, acceleration is filtered numerical value and is converted into acceleration coordinate by coordinate transformation unit
Component value, according to acceleration coordinate components value and judging unit, integral and calculating unit judges that signal calculates the traveling of robot
Distance.
When using the present invention to measure, the Hall in each sampling period is fed back by robot motor's driver in real time
Umber of pulse, controller determines, according to the umber of pulse in the cycle, the kinestate that robot is current: accelerate, slow down, static or
Current uniform velocity.Robot relies on motor to drive and advances, so the pulse signal of Hall encoder feedback determines machine
The kinestate that people is current.Sensor acquisition acceleration and angular velocity initial data, acceleration and angular velocity are also divided by controller
Do not carry out Kalman filter estimation, and carry out quaternary number calculating according to the value obtained after filtering, obtain accekeration and sit at geography
The component that mark is fastened, the robot that the computing module in controller judges according to the controller judge module in each calculating cycle
Acceleration is processed by kinestate, if machine man-made static, is not integrated acceleration calculating, current period
Displacement is 0, otherwise is integrated acceleration calculating, and obtains robot displacement in each direction, thus obtains machine
People's travel distance in pipeline.
Although embodiment of the present invention is disclosed as above, but it is not restricted in description and embodiment listed fortune
With, it can be applied to various applicable the field of the invention completely, for those skilled in the art, and can be easily real
The most other amendment, therefore under the general concept limited without departing substantially from claim and equivalency range, the present invention is not limited to
Specific details and shown here as with the legend described.
Claims (6)
1. measure pipe robot travel distance system for one kind, it is characterised in that including:
Motor, it produces Hall pulse signal according to the kinestate of pipe robot；
Motor driver, it is connected with described motor, receives described Hall pulse signal and transmits；
Sensor, it is six axle sensors, and it is connected with described motor, gathers acceleration and the angular velocity data letter of motor rotation
Number；
Controller, it is connected and receives described Hall pulse signal, described controller and described sensing with described motor driver
Device connects and receives described acceleration and angular velocity data signal, and described controller includes judge module and computing module, described
Judge module produces according to Hall pulse signal and judges signal and be sent to described computing module, and described computing module is according to described
Judge that signal and described acceleration and angular velocity data signal calculate robot range ability.
2. measurement pipe robot travel distance system as claimed in claim 1, it is characterised in that described six axle sensor bags
Include 3-axis acceleration sensor and three-axis gyroscope sensor.
3. measurement pipe robot travel distance system as claimed in claim 1, it is characterised in that described computing module includes
Filtering computing unit, coordinate transformation unit and integral and calculating unit.
4. measurement pipe robot travel distance system as claimed in claim 3, it is characterised in that described filtering computing unit
For Kalman filter computing unit.
5. measurement pipe robot travel distance system as claimed in claim 3, it is characterised in that described coordinate transformation unit
For quaternary number conversion unit.
6. measurement pipe robot travel distance system as claimed in claim 3, it is characterised in that described filtering computing unit
Acceleration and angular velocity data signal to described sensor acquisition are filtered estimating and are calculated acceleration filtering numerical value, described
Acceleration is filtered numerical value and is converted into acceleration coordinate components value by coordinate transformation unit, described integral and calculating unit according to described in add
Speed coordinate component value and judging unit judge that signal calculates the travel distance of robot.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610366561.2A CN106041925A (en) | 2016-05-30 | 2016-05-30 | System for measuring advancing distance of pipeline robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610366561.2A CN106041925A (en) | 2016-05-30 | 2016-05-30 | System for measuring advancing distance of pipeline robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106041925A true CN106041925A (en) | 2016-10-26 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
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| CN201610366561.2A Pending CN106041925A (en) | 2016-05-30 | 2016-05-30 | System for measuring advancing distance of pipeline robot |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109900296A (en) * | 2019-03-22 | 2019-06-18 | 华南农业大学 | A kind of agricultural machinery working travel speed detection system and detection method |
| CN114609406A (en) * | 2022-03-28 | 2022-06-10 | 杭州电子科技大学 | Hall strip-based moving object quantity and speed measuring method |
| CN114778602A (en) * | 2022-03-23 | 2022-07-22 | 南京理工大学 | Pipeline defect detection system based on infrared thermal imaging and six-axis |
| CN115854955A (en) * | 2022-12-21 | 2023-03-28 | 南京理工大学 | Measuring method of moving distance of pipeline detector based on accelerometer and Hall device |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109900296A (en) * | 2019-03-22 | 2019-06-18 | 华南农业大学 | A kind of agricultural machinery working travel speed detection system and detection method |
| CN114778602A (en) * | 2022-03-23 | 2022-07-22 | 南京理工大学 | Pipeline defect detection system based on infrared thermal imaging and six-axis |
| CN114609406A (en) * | 2022-03-28 | 2022-06-10 | 杭州电子科技大学 | Hall strip-based moving object quantity and speed measuring method |
| CN115854955A (en) * | 2022-12-21 | 2023-03-28 | 南京理工大学 | Measuring method of moving distance of pipeline detector based on accelerometer and Hall device |
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Application publication date: 20161026 |
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