[机械模具数控自动化专业毕业设计外文文献及翻译]【期刊】管道机器人爬行营救的概念与研究-外文文献

AdvancedRobotics ,Vol.17,No.4,pp.339358(2003) VSPandRoboticsSocietyofJapan2003.AFulpaperTheconceptandresearchofapipecrawlingrescuerobotZHELONGWANG andERNESTAPPLETONSchoolofEngineering,UniversityofDurham,DurhamDH13LE,UKReceived19June2002;accepted31July2002AbstractThispaperpresentsthecontrolalgorithmanddesignofapipecrawlingrobotwhichcanbeusedforthepurposeofearthquakerescueandpipelinemaintenance.Therobotisdesignedtobeabletointelligentlyalteritsbodyshapetobullet5tthepipeortunnel-likevoidswithinrubble.Thepaperintroducesasimulationtotesthowtherobotaltersitsbodyshapetobullet5tvoids.Thecontrolalgorithmusesalook-uptablemethodcombinedwiththemethodofleastsquarestopredicttheshapeoftherobotundertheinbullet6uenceofactuators.Thepaperalsopresentsthedesignofboththehardwareandsoftwaresystemsoftherobot,andlaboratoryexperimentsontherobotbodymodule.ComputersimulationresultsbyusingMATLABandtheexperimentalresultsindicatethefeasibilityoftherobotbodyshapechangecontrolalgorithmproposal.Keywords:Piperobot;controlalgorithm;methodofleastsquares;deformablebody;rescuerobot.1.INTRODUCTION1.1.ApipecrawlingrobotInternationalpipelinesystemsusedforthetransmissionofoil,gasandwateraregrowinginage,andsomeinstallationshavealreadybeeninoperationbeyondtheservicelifetheyhadoriginallybeendesignedfor.Inspectionofshortpipesisanimportanttaskfacedbymanyindustries.Thedeteriorationoftheinnersurfaceofpipesisespeciallycommoninrebullet5neriesandsteamplants.Itisthereforeofever-increasingimportancethatpipelineoperatorsareprovidedwiththemeanstoaccuratelyandreliablyinspecttheirpipelines,andobtaintheinformationneededfordecisionmakingregardingsafeoperation,rehabilitationandrepair1.Theuseofautomaticpipeinspectioncouldreducethedowntimeandmanpowerrequiredforthepipeinspectionprocess.Thishighlydemandingrequirementhasresultedinthedevelopmentofvariouskindsofpiperobots.Towhomcorrespondenceshouldbeaddressed.E-mail:zhelong.wangdurham.ac.uk340 Z.WangandE.Appleton1.2.EarthquakerescuerobotsEarthquakesareunfortunatelyfrequenthappeningsandverydangerousnaturalphenomena.Inalmosteverymajorearthquakemanyvictimsareburiedundercolapsedbuildings,bridges,roadways,etc.Itisverydifbullet5culttorescuethesepeople,whomaywellbeinjured,hungryandweak.Inaddition,thestructuralconditionsundertherubblecanbecomplex,dangerousandunknown.Thus,thereisaprimaryneedtoexploretheseconditionsanddeterminethevictimslocationandtheircondition.Thematterisalsourgentasitisimportanttorescuethosevictimsassonaspossible.Asaresult,rescuerobotshavebeendevelopedtoundertakethesetasks.InanarticlebyTokuda etal.2,aprototypeCUL(CarryandpowerassistrobotforUnspecibullet5edLandform)whichwillbeusedforearthquakerescuemissionshasbeendescribed.Thepaperalsodescribesresultsofexperimentsforafeasibilitystudy.TheexperimentalresultsshowtheeffectivenessoftheCULrescuerobotproposed.2.PROBLEMPRESENTATION2.1.TheshortcomingsofexistingpipelinerobotdesignPipelinerobotsarementionedinalargenumberofpapers.Forexample,arobotsystemnamedKARO3(Entwicklungeinesbullet6exibleeinsetzbarenRobotszurintelligentensensor-basiertenKanalinspektion)isequippedwithintelligentmulti-sensors.Theseallowautomaticandreliabledetectionofdamagelocation,itstypeandsize,andgivesuperiorperformancecomparedwiththemajorityofCCTV-basedsystems.Thesystemhasbeendevelopedfortheprotectionofgroundwaterandsoilagainstcontaminatingmaterialsandliquids.ToyomiandKoichi4havedevelopedamicro-inspectionrobotfor1-inchdiameterpipes.Therobotcanundertakevisualinspectionsinpipesandalsoretrievesmallobjects.GlenandDevon5describearobotthatundertakesautomaticpipeinspectionandhasbeenprovedtobeasuitablealternativetocurrentpipeinspectiontechniques.Theadvantageofthissystemisthatitutilizesestablishedmechatronicprinciplestoproducealow-costdevicecapableofdetectinginerpipedefects.However,alltheserobotscanonlyworkinpipesofbullet5xeddiametersandcannotworkifthewallofthepipeisbrokenorbadlydamaged,ifthepipediametervariesorifthepipecollapsedpartially.2.2.ABrushrobotApipecrawlingrobothasbeendevelopedattheCenterofIndustrialAutomationandManufacturing(CIAM),SchoolofEngineering,UniversityofDurham.Therobotutilizesaunique,innovativeandpatentedtractionsystem.Theprincipleofthedrivesystemissimple.Thatis,ifabrushwithadiameterslightlylargerthantheboreofapipeisinsertedintoapipe,itsbristlesaresweptbackatanangle.Underthiscondition,itiseasiertopushthebrushforwardsthoughthepipethanTheconceptandresearchofapipecrawlingrescuerobot 341itistopullitbackwards.Thus,iftwobrushareinterconnectedbyareciprocatingcylinder,then,bycyclingthecylinder,itispossiblefortherobottocrawlalongthepipe6.Thedrivesystemhasbeenawardedpatentsonanearworldwidebasis.MoredetailsaboutthedrivesystemareillustratedinStutchbury6andHan7.MostoftherobotsdevelopedinDurhamarepoweredbypneumaticsandgripthewallofthepipebymeansofmanybristleclusters,hencenamedBrushrobots.Justlikeotherpipelinerobotsmentionedearlier,aBrushrobotcanonlyworkinpipeswithinalimiteddiameterrangealthough,unlikemanyoftheothertractionsystems,thebristlemechanismiscapableofdealingwithbrokenonpartiallycollapsedpipes.2.3.AnimprovedBrushrobotforearthquakerescueandpipelinemaintenanceThisreportoutlinessomeimprovementsontheestablishedBrushrobotprinciple,andadaptsittoworkforthepurposeofearthquakerescueandinseverelydamagedorbrokenpipelines.Thus,itisdesignedtobeabletoalteritsbodyshapetobullet5tthevariablevoidshapesinacolapsedbuildingordifferentdiameterpipeswhosewallsmightbebrokenorinabadcondition.Torealizethesefunctions,asensorsystemfordetectingtheholeshapeandacontrolsystemforalteringtherobotbodyshapeisnecessarilyequipped.Forthepurposeofrescue,aCCDcameraneedstobeequippedtoseetheconditionsinthehole.ACO 2detectorisusedfordetectingwhethervictimsarealiveornotandforlocatingtheirpositions.Amicrophoneisequippedforavictimtocommunicatewithrescuepersonnel.Inaddition,anairhosewilbecarriedbytherobotforconditionsofairdebullet5ciency.3.RESEARCHMETHODOLOGY3.1.OutlineThekeypointforaBrushrobotistoproduceenoughfrictiontodriveitselfandcarrythenecessaryloads.Forthepurposeofearthquakerescue,therobotshouldbeabletopassthroughholesandcracksintheruinsmadebytheearthquake.However,theholesandcracksintheruinsusuallyhaveirregularshapesandsizes.Thus,therobotmustbeabletoalteritsbodyshapeandbullet5ttheholeshapetoproduceenoughfrictionalforce.Torealizetherequirement,itisessentialtoinstallasensorsystemontherobotshead,whichisusedtoroughlydetecttheholeandcrackshapes.InthedesignofthisBrushrobot,fourgroupsofactuatorsneedtobeinstalledaroundtherobotsbody.Theseactuatorswillchangetherobotsbodyshapeaccordingtosignalsfromthesensorsystem.Duringthisprocedureacontrolsystemwillrecog-nizethesensorssignals,performingcalculationsbasedonthesignalinformationandsendingappropriatecommandstochangetheactuators.UsingaCCDcameramountedontheheadoftherobot,theconditionsintheholesandcrackscanbeinvestigatedvisually.Amanualcontrolfunctionisalsorequiredtodealwithexcep-tionalcircumstancesinthecaseoffailureoftherobotautomaticcontrolfunction.A342 Z.WangandE.AppletonsoftwaresystembasedonaPCisalsorequiredtorundatacommunicationandcon-trol,storedata,etc.Morespecibullet5cally,thesoftwareisrequiredtobeabletorecordtherobotsroutesandtheholeshapesatdifferenttravelstages.3.2.Robotworkingmechanismtheory3.2.1.ThemechanismtheoryofanoldBrushrobot. Beforebuildingarealrobotmodel,itisnecessarytodosomecomputersimulationstoprovethefeasibilityofthecontrolalgorithm.MovementofaBrushrobotisachievedbytheutilizationofcurvedbristleasthemeansofpropulsionandsupport,asillustratedinFig.1.Whenthecylinderopens,theleadingbrush,offeringlowerresistancebecauseofthebristlecurvature,movesforwardeasily;thetrailingbrush,becauseofitshigherresistancetobackwardforces,remainsstationary.However,whenthereversehappens,i.e.thecylindercloses,theleadingbrushremainsstationary,whereasthetrailingbrush,nowofferinglowresistance,ispulledforward.Basedonthistheory,theresultanttractiondependsentirelyonthebristlemechanismset-upandcanbeillustratedinthefollowingway.Consideringasinglebristleforthepurposeofsimplicity,whenabristleisputintoapipe,andbecauseofitseffectivelateraldimension,itisbentbythepipewall,therewillbeaperpendicularforce Pactingatthetipofthebristle,asshowninFig.2.Whenmovingthecoreofbristles,traction Fshouldequal P.Theprojectionofabristleinthedirectionofthe y-axisismarkedas h.Thelengthofabristleis l.Thechordbetweenthetwotipsofthebristleisexpressedas L.Inthethesis6,Stutchburygivestheconclusionthattheoptimumangelbetweenthebristleandpipewallshouldbebetween30 and40toachievethebesttraction F,althoughthisangelwillvarydependinguponanumberoffactors,e.g.lubrication.InRef.7,Hangivesustherelationbetween handl: hlD2E./QlL: (1)Note:E./D21122sin2213242sin4231352462sin625;andQlD21C122sin22C13242sin423C1352462sin625C:Thevalueofhcanbeobtainedif landareknown.ThethesisbyHangivesatablewhichindicatestheresultsobtainedbyapplying(1),asshownbelowinTable.ThemechanismtheoryofanimprovedBrushrobot. AnewlyimprovedBrushrobotusedthesamebrushmechanismastheoldone,butthestructureofTheconceptandresearchofapipecrawlingrescuerobot 343Figure1.Brushrobotmotionprinciple.Figure2.Bristlemechanismdiagram.Table1.Spreadsheetfortherelationbetween handl(deg) P=PEuler =l h=l10 1.004 0.1116 0.992320 1.016 0.2193 0.969830 1.035 0.2588 0.932440 1.062 0.4221 0.878760 1.152 0.5930 0.697390 1.392 0.7925 0.4189344 Z.WangandE.AppletonFigure3.Thestructureofonerobotbodymodule.itsbodymodulehasbeenmodibullet5ed.TheoldBrushrobotsbodymoduleisasolidsteelcylindermountedwithhundredsofsteelbristles.Thesteelcylinderistherobotbodycoreofabullet5xeddiameterandthebodycorecannotdoanychangetoitsphysicalshape.However,intheimprovedBrushrobot,athinsteelstripcirclereplacestheoldrobotbodycylinder,asillustratedinFig.3.Insidethestripcircle,fouractuatorsconnectthestripcirclebyjoiningtheactuatorendpointswiththestripcircle.Liketheoldrobotbodymodule,hundredsofsteelbristlesaremountedonthesurfaceofthestripcircle.Thenew,improvedrobotbodymodulewithsuchamechanismcanalteritsshapebyactuatorspushinginandout.3.3.ControlalgorithmforthenewBrushrobotTomakeanimprovedBrushrobottobeabletoalteritsbodyshapeandbullet5tthevoids,ahybridcontrolalgorithmbasedonalook-uptablemethodandthemethodofleastsquaresisdeveloped.Themethodthattherobotusetodecideshowtoalteritsbodyshapetobullet5ttheholeisreferencetoadatabullet5le,storedinatable.Thetableiscom-posedofdatabullet5lesandeachbullet5lepresentsonecalculationresultobtainedbyusingABAQUSsoftware.Figure3illustratesthestructureofonerobotbodymodule.Eachrobotbodymoduleiscomposedoffouractuators,athinspringsteelstripcir-cleandhundredsofspringsteelbristlesmountedonthesurfaceofthestrip.Theendpointofeachactuatorisconnectedtothestripsothattheshapeofthesteelstripcirclecanbedeformedbytheactuatorspushinginandout.Ifseveralhundredpointsonthestripcirclearemarked,thepositionofeachpointcanberecordedasapairofcoordinates.Thestripcircleshapecanbeuniquelyrepresentedifallpointscoordi-natescanbeknown.Theshapeofthestripcirclecanbeacquiredfromcoordinatesofthosepointswhenactuatorspushin/outandthestripcircleisdeformedbysuchpushing.Infact,heretheshapeofthestripcirclerepresentstheactualshapeoftherobotbodymodule.Theseshapesarerelatedtoactuatorloadsandconsequentlydebullet6ectionsthatareputontherobotbodyinthedirectionofthe x-axisandy-axisindependently.Thus,therobotbodymoduleshapewillbechangedwithvariedac-tuatorloadsanddebullet6ections.Inthemeantime,thecoordinatesofthepointsontherobotbodymodulewillbechangedbecauseoftherobotbodydebullet6ection.Theco-ordinatesofthosepointscanbecalculatedandpredictedbyusingABAQUS,whenactuatorloadsarealreadyknown.ThisarrayofpointcoordinatespresentstherobotTheconceptandresearchofapipecrawlingrescuerobot 345Table2.Adatabullet5lestoresanarrayofpointcoordinatesPOINT1 POINT2 POINTnXi X1 X2 XnY1 Y1 Y2 Ynbodymoduleshapeundersuchactuatorloads.Iftheactuatorloadsarechanged,anewarrayofpointcoordinatescanbeacquiredandthismeansthattherobotbodymodulewillassumeanewshape.Thusbychangingtheactuatorloads,whichareinputvariablesinthecalculationbyABAQUS,manyarraysofpointcoordinatescanbeacquired.Eachofthemuniquelyrepresentsarobotbodymoduleshape.Thesearraysofpointcoordinatescanbestoredindatabullet5lesandeachdatabullet5leisusedasarecordtoputintoatable.Asaresult,thistableincludesmanyrobotbodymoduleshapesunderdifferentactuatorloads.Similarlyaholeshapecanalsobeuniquelyexpressedasanarrayofcoordinatesofpointsaroundtheholewall.Therobotscontrolalgorithmisrequiredtobeabletobullet5ndthemostappropriateshapetobullet5ttheholeshapefromthosedatabullet5lesinthetable.Forexample,Table2expressesanarrayofpointcoordinatesstoredasadatabullet5le,whichisarecordintherobotbodyshapetable.A POINTi(iD1;2;:;n/meansapairofcoordinatesofapointontherobotbodyaftertherobotbodyisdebullet6ected.POINTiisexpressedas( Xi;Yi)inthemeaningofthecoordinates,whichisapointontherobotbody.Thecoordinate( xi;yi)isexpressedasthecoordinateofapointontheholewall. diisthedifferencebetweenapointontherobotbodyanditscorrespondingtargetpointontheholewallalongthesamedirection.Iftherobotbodymoduleshapecouldbullet5ttheholeshapeverywell,thatmeansthateach dishouldbeassmallaspossible.Torealizethis,therobotcontrolalgorithmneedstobullet5ndthesmallest D,whichisthesumofthesquareddistance di.Finally,thecontrolalgorithmwillsearchalldatabullet5lesintherobotbodymoduleshapetableandbullet5ndthebestdatabullet5letominimize D,whichiscalculatedbyusing(3). listheoptimallengthofthebristle,whichisaconstantandcanbeknowbyusingaspreadsheetin6.nisthetotalnumberofpointsaroundtherobotbodymodule.diDx2iCy2iX2iCY2il;.iD1;2;:;n/; (2)DDniD1 x2iCy2iX2iCY2il2;.iD1;2;:;n/:(3)3.4.ComputersimulationofthecontrolalgorithmTotestthefeasibilityofthecontrolalgorithmpresentedabove,anumberofcomputersimulationshavebeenperformedusingMATLAB.Thesimulationresultsshowthatthecontrolalgorithmproposedwillbeeffective.Figures46arebased346 Z.WangandE.AppletonFigure4.Robotbodymodulebullet5tsasquare:Cindicatesapointoftherobotbodyandindicatesapointoftheholeswall.Figure5.Robotbodymodulebullet5tsanellipse:Cindicatesapointoftherobotbody.Figure6.Robotbodymodulebullet5tsanirregularshape:indicatesapointoftheholeswall.Theconceptandresearchofapipecrawlingrescuerobot 347onsomesimulationresults.Inthesebullet5gures,theholeshapeisexpressedbyanarrayofinterconnectedsymbolsandtherobotbodymoduleshapeisexpressedbyanarrayofinterconnectedsymbolsC.AlsoeachsymbolrepresentsapointontheholewallandeachCsymbolrepresentsapointontherobotbodymodule.InFig.4,theholeshapeisarectangleandtherobotbodycurvebullet5tstheholewell.InFig.5,theholeshapeisanellipseandtherobotbodycurveissimilartotheholeshape,butitisrelativelysmallerthanthehole.Thebristlearoundtherobotbodycandealwiththelittledifferencebyelasticdebullet6ection.Figure6showstherobotbodytestedtobullet5tanirregularholeshapeandmostoftherobotbodymodulecurvecanbullet5ttheholebyelasticdebullet6ectionofthebristles;however,therightuppercornercannotbebullet5ttedbytherobotbodymodulecurve.Toachieveabetterbullet5tting,furtherworkneedstobecarriedonmakinganon-symmetricrobotbody.Fromthesimulationresultsabove,therobotbodymodulecouldalteritsshapetobullet5tsomebasicgeometricshapesandsimpleirregularshapes.Thecontrolalgorithmisbasicallyprovedtobefeasible.Morecomplicatedirregularshapescannotbebullet5ttedwellbyusingthecurrentstructureoftherobotbodymodule.Thiscouldbesolvedbymakinganon-symmetricrobotbodymoduleandusingmoreactuators,whichwillenablerobotbodymoduletochangeintomorecomplexshapestobullet5tvariousholeshapes.3.5.Robotcontrolsystem3.5.1.Controlmodulediagram. ItisenvisagedthatacontrolprogramwillruninaPCandthatasensorsystemwilsendbacksignalsabouttheconstantlychangingholeshape.Afterprocessingthesesignals,thePCmakesthecontroldecisionsandsendscontrolcommandstoeverycontrolmodule.Thenthecontrolmoduleswillcontrolthemovementsoftheactuatorsaccordingtothosecontrolcommands.Figure7displaysthatarobotcontrolsystemthatincludestwolayersofcontrol.OneisthecontrolfromaPCtoeachcontrolmodule;theotheristhecontrolfromeachcontrolmoduletoitscorrespondingactuator.Inaddition,asensorsystemFigure7.Controlmodulediagram.348 Z.WangandE.AppletonFigure8.CmunicateswiththePCtocolecttheinformationoftheholeshapeandsendstheinformationtothePC.3.5.2.Controlboarddiagram. Itisproposedtomakeaprototypeofthisrobotusingeightsteppermotorcontrolboards,16steppermotordriveboards,16steppermotorsandonePCtorunthecontrolsoftware.InFig.8,aschemeisdrawntoexplaintheconnectionsbetweenthesemodules.Eachcontrolboardcancontroltwosteppermotorsandeverysteppermotorneedstobedrivenbyadriveboard.Foursteppermotorsareneededforeachrobotbodymodule,sothatafour-body-partBrushrobotneeds16steppermotorsinall.4.EXPERIMENTSThisBrushrobotiscomposedofthesamefourmodules.Thus,thelaboratoryexperimentfocusesononerobotbodymodule.4.1.LaboratoryexperimentonarobotbodymoduleTherobotbodymoduleexperimentaldeviceisshowninFig.9.Thedevicesincludeastraingaugesensor,robotbodymodule,robotactuatorcontrolbox,DCpowersupplyandPC.Thestraingaugesensorisusedtodetectthevoidshapes.Thesensorincludes12bullet5ngersequippedwithstraingauges.Thestraingaugecanbeusedtodetectthedebullet6ectionsofthebullet5ngers.Thetouchingpointcoordinatesofthebullet5ngersonthevoidwallcanbeworkedoutbythesedebullet6ections.Withthesecoordinates,asplinealgorithmcanestimatethewholevoidshape.4.1.1.Robotsoftwaresystem. AcomputerprogramwritteninVisualC+wasdevelopedfortherobotprototypeexperimenttocollectsensorsignals,controlTheconceptandresearchofapipecrawlingrescuerobot 349Figure9.Robotexperimentaldevices.Figure10.Robotsoftwareinterface.actuatorsandrealizetheshapechangealgorithm.Figure10illustratestheprograminterface.Theleftwindowshowshowtherobotbodymodulewillalteritsbodyshapetobullet5tthevoid.Theblackinnerlineshowstheoutlineoftherobotbodymoduleandthegreyouterlineshowstheoutlineofthevoidwall.Therightwindowdisplaysthecommunicationworkingstatus;thesteppermotorworkingstatusandcontrolcommandssenttothesteppermotors.Figure1showstheinterfaceofthedataacquisitionprogram,whichdisplaysthedataacquisitioncardinformation;32analoginputch