Research On Control Method For Peristaltic Pipeline Robot

With the development of industrialization and urban construction, petrifaction, mine, smelt, chemical industry and other industries promoted the popularity of the pipeline. Special environment of pipeline need a device which can enter the pipeline substitute to investigate the environment and achieve some tasks. The pipe robot emerged. An in-depth study on pipeline environmental monitoring is conducted based on turn performance, identifying and positioning, control strategies, which took the flexible peristaltic pipe robot as the research object. Main contents of this article are as follows:(1)For the study of gait optimal control problem of the peristaltic flexible pipe robot in elbow, an in-depth study on the relationship between the driving capability and the pipe curvature and span between the robot is carried out. By analyzing the force characteristics of the robot in elbow and the influence of flexible shaft instability status on the mechanical characteristics, a relational model between the driving capability and the curvature and the span is established.(2)A multi-sensor information fusion algorithm based on relation matrix and fuzzy logic control is proposed. In this method, relation matrix is adopted to fuse the information from ultrasonic sensors and infrared sensors, while fuzzy neural network is employed to make walking strategy and remove obstructions.(3)The robot localization problem in closed conduits is studied. A curve identification method based on vision, specifically is the camera imaging features in pipeline environment.is proposed. An improved map-matching methods based on the known map is presented to achieve accurate positioning. (4)The hardware and software of the robot control system is mainly introduced. The software and hardware design of the control system includes robot control system design of data fusion module design; The basic composition of the system and the relationship between the various subsystems is been detailed design and description.(5)The test of curve through performance, two-level-sensor-fusion experiment and pipe robot positioning experiment are completed based on the previous theories and models, which makes a comprehensive evaluation of the motion performance of the robot.