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

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

Abstract

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

CLC Number:

TP242.3

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

Figures/Tables 25

Fig. 1

Fig. 2

Fig. 3

Fig. 4

Fig. 5

Table 1

Fig. 6

Fig. 7

Fig. 8

Fig. 9

Fig. 10

Fig. 11

Fig.12

Fig. 13

Table 2

Fig. 14

Fig. 15

Fig. 16

Fig. 17

Fig. 18

Fig. 19

Fig. 20

Fig. 21

Fig. 22

Fig. 23

References 22

1	马钊, 刘颖异, 尚宇炜, 等. CIGRE 2016未来电力系统及主动配电系统技术新动向[J]. 中国电机工程学报, 2017, 37(1): 27-35.
	Ma Zhao, Liu Yingyi, Shang Yuwei, et al. CIGRE 2016 Development Trends of Future Power System and Active Distribution System[J]. Proceedings of the CSEE, 2017, 37(1): 27-35.
2	Somsak Tanachai, Suwanasri Thanapong, Suwanasri Cattareeya, et al. Remaining Useful Life Estimation for Underground Cable Systems Based on Historical Health Index[J]. Energies, 2022, 15(24): 9447.
3	白承栋. 内径自适应管道机器人设计与运动性能分析[D]. 大连: 大连理工大学, 2022.
	Bai Chengdong. Design and Kinematic Performance Analysis of Self-adaptive Inner Diameter Pipeline Robot[D]. Dalian: Dalian University of Technology, 2022.
4	米红甫, 张小梅, 杨文璟, 等. 城市地下综合管廊电缆舱火灾概率分析方法[J]. 中国安全科学学报, 2021, 31(1): 165-172.
	Mi Hongfu, Zhang Xiaomei, Yang Wenjing, et al. Fire Probability Analysis Method of Cable Cabin in Urban Utility Tunnel[J]. China Safety Science Journal, 2021, 31(1): 165-172.
5	闫佳文, 黄继杰, 周磊, 等. 基于多时间尺度和VR的输电线运检培训仿真[J]. 系统仿真学报, 2022, 34(2): 212-220.
	Yan Jiawen, Huang Jijie, Zhou Lei, et al. Transmission Line Operation and Inspection Training Simulation Based on Multiple Time Scales and VR[J]. Journal of System Simulation, 2022, 34(2): 212-220.
6	Yun Seok Choi, Moon Kim Ho, Hyeong Min Mun, et al. Recognition of Pipeline Geometry by Using Monocular Camera and PSD Sensors[J]. Intelligent Service Robotics, 2017, 10(3): 213-227.
7	Waleed Danial, Syed Hamdan Mustafa, Mukhopadhyay Shayok, et al. An in-pipe Leak Detection Robot with a Neural-network-based Leak Verification System[J]. IEEE Sensors Journal, 2019, 19(3): 1153-1165.
8	Kazeminasab S, Akbari A, Jafari R, et al. Design, Characterization, and Control of a Size Adaptable in-pipe Robot for Water Distribution Systems[C]//2021 22nd IEEE International Conference on Industrial Technology (ICIT). Piscataway: IEEE, 2021: 39-46.
9	Brown L, Carrasco J, Watson S, et al. Elbow Detection in Pipes for Autonomous Navigation of Inspection Robots[J]. Journal of Intelligent & Robotic Systems, 2019, 95(2): 527-541.
10	Nasibullayev Ildar, Darintsev Oleg, Bogdanov Dinar. In-pipe Modular Robot: Configuration, Displacement Principles, Standard Patterns and Modeling[C]//Electromechanics and Robotics. Singapore: Springer Singapore, 2022: 85-96.
11	唐德威, 李庆凯, 姜生元, 等. 三轴差速式管道机器人过弯管时的差速特性及拖动力分析[J]. 机器人, 2010, 32(1): 91-96.
	Tang Dewei, Li Qingkai, Jiang Shengyuan, et al. Differential Property and Traction Force of Tri-axial Differential Pipeline Robot in Elbow[J]. Robot, 2010, 32(1): 91-96.
12	梁亮, 胡冠昱, 朱宗铭, 等. 内外螺旋管道机器人的动力学建模和数值仿真[J]. 系统仿真学报, 2013, 25(11): 2546-2551.
	Liang Liang, Hu Guanyu, Zhu Zongming, et al. Dynamics Modeling and Numerical Simulation of Inner and Outer Spiral in-pipe Robots[J]. Journal of System Simulation, 2013, 25(11): 2546-2551.
13	闫宏伟, 焦彪彪, 马建强, 等. 一种管道机器人的自适应主动螺旋式驱动机理分析[J]. 中国机械工程, 2018, 29(1): 21-29.
	Yan Hongwei, Jiao Biaobiao, Ma Jianqiang, et al. Adaptive Active Screw Driving Mechanism Analysis for Pipeline Robots[J]. China Mechanical Engineering, 2018, 29(1): 21-29.
14	罗继曼, 戴璐璐, 印辉, 等. 管道清淤机器人协调运动控制系统的设计[J]. 沈阳建筑大学学报(自然科学版), 2021, 37(3): 556-562.
	Luo Jiman, Dai Lulu, Yin Hui, et al. Design on Coordinated Motion Control System of Pipe Dredging Robot[J]. Journal of Shenyang Jianzhu University(Natural Science), 2021, 37(3): 556-562.
15	刘洪斌, 冀楠. 蠕动式管道机器人结构设计与运动特性分析[J]. 哈尔滨工程大学学报, 2022, 43(8): 1169-1177.
	Liu Hongbin, Ji Nan. Structural Design and Motion Characteristics Analysis of Peristaltic Pipeline Robots[J]. Journal of Harbin Engineering University, 2022, 43(8): 1169-1177.
16	李智强, 李卫国, 冯志成, 等. 管道机器人结构与通过性分析[J]. 机械传动, 2021, 45(6): 146-152.
	Li Zhiqiang, Li Weiguo, Feng Zhicheng, et al. Structural and Passability Analysis of Pipeline Robot[J]. Journal of Mechanical Transmission, 2021, 45(6): 146-152.
17	陈潇, 吴志鹏, 何思宇, 等. 自适应支撑式管道检测机器人的通过性设计[J]. 中南大学学报(自然科学版), 2018, 49(12): 2953-2962.
	Chen Xiao, Wu Zhipeng, He Siyu, et al. Passing Property Design of Adaptive Support Pipeline Detection Robot[J]. Journal of Central South University(Science and Technology), 2018, 49(12): 2953-2962.
18	Rubies Elena, Palacín Jordi. Design and FDM/FFF Implementation of a Compact Omnidirectional Wheel for a Mobile Robot and Assessment of ABS and PLA Printing Materials[J]. Robotics, 2020, 9(2): 43.
19	Hijikata Masaaki, Miyagusuku Renato, Ozaki Koichi. Wheel Arrangement of Four Omni Wheel Mobile Robot for Compactness[J]. Applied Sciences, 2022, 12(12): 5798.
20	李颀, 汪伟. 多全向轮协同分拣平台的路径规划[J]. 系统仿真学报, 2021, 33(3): 698-709.
	Li Qi, Wang Wei. Path Designing of Multi-omnidirectional Wheel Collaborative Sorting Platform[J]. Journal of System Simulation, 2021, 33(3): 698-709.
21	Tu Qing, Liu Qingyou, Ren Tao, et al. Obstacle Crossing and Traction Performance of Active and Passive Screw Pipeline Robots[J]. Journal of Mechanical Science and Technology, 2019, 33(5): 2417-2427.
22	吴伟, 李博, 刘娜娜, 等. 轮式牵引机器人优化设计及运动特性分析[J]. 系统仿真学报, 2020, 32(5): 918-926.
	Wu Wei, Li Bo, Liu Nana, et al. Optimization Design and Locomotion Characteristics Analysis of Wheeled Traction Robot[J]. Journal of System Simulation, 2020, 32(5): 918-926.

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

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

[1]	Hongbin Liu, Zhiqiang Shen, Yize Wang, Ming Qiu, Wenrong Lin. Application of Digital Twin Model in Grinding of Bearing Rings [J]. Journal of System Simulation, 2023, 35(3): 557-567.
[2]	Yu Xiaolan, Xiong Wei, Han Chi, Wu Zhenwei. Research on Operational Effectiveness Evaluation Method of Space-based Information Support Equipment System [J]. Journal of System Simulation, 2023, 35(11): 2429-2444.
[3]	Jianlei Liu, Xuejian Jiao, Huaiqian Wang. Development of Vehicle Dynamics Virtual Simulation System Based on CarSim [J]. Journal of System Simulation, 2022, 34(8): 1847-1854.
[4]	Yingyan Zhao, Qunsheng Cao, Zhengnan Cao, Jianchun Wang. Realization of Domestic Ship Hydrodynamic Numerical Software on Industrial Cloud Platform [J]. Journal of System Simulation, 2022, 34(8): 1855-1863.
[5]	Jing Wang, Ying Dong. Simulation Research on COVID-19 Transmission and Control Measures Based on SEI_iRD Model [J]. Journal of System Simulation, 2022, 34(7): 1532-1546.
[6]	Wei Chen, Zongping Li, Can Liu, Yanni Ju. Research on the Number of Passengers on the Platform of Rail Transit Station Considering Congestion Propagation [J]. Journal of System Simulation, 2022, 34(7): 1582-1592.
[7]	Tong Wu, Qinghui Wang, Zhijia Xu. Study on the Scale Characteristics of Permeability of TPMS Porous Materials [J]. Journal of System Simulation, 2022, 34(5): 1015-1024.
[8]	Ou Xie, Aiguo Song, Qixin Zhu. Study on Near-body Pressure Characteristics of Bionic Robotic Fish Undulating in Near Wall Region [J]. Journal of System Simulation, 2022, 34(4): 870-877.
[9]	Guangxu Xi, Yongyi Liu, Chong Wu, Junjie Zhang, Yinghao Chen. Key Technology Research on Stall Spin Simulation Training System of an Aircraft [J]. Journal of System Simulation, 2022, 34(4): 878-890.
[10]	Shen Zhang, Zewang Yang, Yifan Wang, Liang Sun, Ming Cheng, Fankai Meng, Ting Li. Simulation on Flood Disaster in Urban Building Complex System Based on LBM [J]. Journal of System Simulation, 2022, 34(12): 2584-2594.
[11]	Jiaji Lou, Jing Ma, Xiaowei Li, Yue Zhao, Youbin Song. Research on Modeling and Simulation Technology of Microwave Radar High Precision Tracking Loop [J]. Journal of System Simulation, 2022, 34(12): 2619-2628.
[12]	Jianrong Tang, Jiatong Bao. Research on Network Public Opinion Transmission Mechanism of Inversion Event Based on Integrating Improved SIR Model [J]. Journal of System Simulation, 2022, 34(11): 2406-2415.
[13]	Fan Changjia, Du Yanqiu, Liang Di, Hu Kai, Huang Jiayan. Modeling and Simulation of Emergency Medical Resources Allocation in Shanghai during COVID-19 [J]. Journal of System Simulation, 2022, 34(1): 93-103.
[14]	Liu Xiazhen, Yuan Wu, Li Qi, Zhao Rui, Zhang Jian, Lu Zhonghua. Simulation and Optimization of Supersonic Drag Characteristics of Blunt Cone Ascender [J]. Journal of System Simulation, 2021, 33(7): 1582-1590.
[15]	Yue Kuizhi, Zhang Yuan, Cheng Liangliang, Yu Dazhao. Numerical Simulation of Aerodynamic Characteristics for Double-all-wing Unmanned Aerial Vehicle Based on Computational Fluid Dynamics Theory [J]. Journal of System Simulation, 2021, 33(7): 1654-1660.