基于全向轮的排管电缆巡检机器人建模及仿真

doi:10.16182/j.issn1004731x.joss.23-0536

系统仿真学报 ›› 2024, Vol. 36 ›› Issue (9): 2100-2112.doi: 10.16182/j.issn1004731x.joss.23-0536

• 研究论文 • 上一篇

基于全向轮的排管电缆巡检机器人建模及仿真

苑朝¹, 张耀¹, 赵亚冬¹, 徐大伟¹^,², 苑晶³, 翟永杰¹

^1.华北电力大学自动化系，河北保定 071003
^2.中国科学院自动化研究所复杂系统管理与控制国家重点实验室，北京 100190
^3.南开大学人工智能学院，天津 300071

收稿日期:2023-05-08 修回日期:2023-07-25 出版日期:2024-09-15 发布日期:2024-09-30
通讯作者: 张耀
第一作者简介:苑朝(1985-)，男，讲师，博士，研究方向为机器人学、传感器系统设计。
基金资助:
国家自然科学基金联合基金项目重点支持项目(U21A20486);中国科学院自动化研究所复杂系统管理与控制国家重点实验室开放课题(20220102)

Modeling and Simulation of Pipeline Cable Inspection Robot Based on Omnidirectional Wheel

Yuan Chao¹, Zhang Yao¹, Zhao Yadong¹, Xu Dawei¹^,², Yuan Jing³, Zhai Yongjie¹

^1.Department of Automation, North China Electric Power University, Baoding 071003, China
^2.The State Key Laboratory of Management and;Control for Complex Systems, Institute of Automation, Chinese Academy of Sciences, Beijing 100190, China
^3.College of Artificial Intelligence, Nankai University, Tianjin 300071, China

Received:2023-05-08 Revised:2023-07-25 Online:2024-09-15 Published:2024-09-30
Contact: Zhang Yao

摘要/Abstract

摘要：

针对地下排管电缆内部空间狭小密闭，人工无法巡检，现有管道机器人无法适应排管电缆这一特殊环境的问题，设计了一款小型化、紧凑型且能够在已敷设电缆的地下排管内实现运行的排管电缆巡检机器人，用以对排管内壁及电缆工况进行检测。根据工况需求，建立机器人整体三维模型。分析全向轮速度与系统速度的映射关系，分析机器人在排管内部的变径支撑能力和牵引力大小，建立数学模型。仿真结果表明：该机器人能够在敷设电缆型号为YJLV22-3×300的地下排管内直行通过，且能进行姿态调整，避过障碍物继续直行，完成巡检任务。仿真结果与理论计算基本一致，验证了动力学模型的正确性。

关键词: 管道机器人, 排管电缆, 全向轮, 动力学, ADAMS仿真

Abstract:

Aiming at the problem that the inner space of underground pipeline cable is narrow and closed, which cannot be inspected by humans, and the existing pipeline robot cannot adapt to the special environment of pipeline cable, a miniaturized, compact pipeline cable inspection robot is designed. This robot is capable of operating within the underground pipeline where cables have already been laid to inspect the inner wall of the pipeline and the working condition of the cables. According to the requirements of the working conditions, the whole three-dimensional model of the robot has been established. The mapping relationship between the omnidirectional wheel velocity and the system velocity has been analyzed, as well as the variable diameter support capacity and tractive force of the robot inside the pipeline, and the mathematical model has been established. The simulation results show that the robot can directly pass through the underground pipeline laying YJLV22-3300 cable, and can adjust its posture to avoid obstacles and continue to complete the inspection task. The simulation results are basically consistent with the theoretical calculations, verifying the correctness of the dynamic model.

Key words: pipeline robot, pipeline cable, omnidirectional wheel, dynamics, ADAMS simulation

中图分类号:

TP242.3

苑朝,张耀,赵亚冬等 . 基于全向轮的排管电缆巡检机器人建模及仿真[J]. 系统仿真学报, 2024, 36(9): 2100-2112.

Yuan Chao,Zhang Yao,Zhao Yadong,et al . Modeling and Simulation of Pipeline Cable Inspection Robot Based on Omnidirectional Wheel[J]. Journal of System Simulation, 2024, 36(9): 2100-2112.

图/表 25

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主要参数	量值
排管直径/mm	180
电缆直径/mm	80
机器人长度/mm	310
机器人平均速度/(mm·s^-1)	140
机器人外轮廓直径/mm	75
弹簧刚度系数/(N·mm^-1)	2
弹簧预载力/N	2
摩擦因数	0.75

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基于全向轮的排管电缆巡检机器人建模及仿真

Modeling and Simulation of Pipeline Cable Inspection Robot Based on Omnidirectional Wheel

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机器人状态	电机A	电机B	电磁铁
直行状态	开	关	关
姿态调整	关	开	开/关
停止状态	关	关	关