CN-121979198-A - Pipeline detection robot speed control method, device, storage medium and equipment

CN121979198ACN 121979198 ACN121979198 ACN 121979198ACN-121979198-A

Abstract

The application discloses a speed control method, a speed control device, a storage medium and speed control equipment for a pipeline detection robot. The method comprises the steps of constructing a motion model of a pipeline detection robot considering the opening degree of a drain valve, constructing a speed control strategy and speed constraint conditions of the pipeline detection robot running in different terrain sections according to target pipeline parameters and body parameters of the pipeline detection robot, planning the speed of the pipeline detection robot by adopting a dynamic planning algorithm to obtain an initial global reference speed curve, smoothing the initial global reference speed curve to obtain a target global reference speed curve, and calculating by adopting a preset slip form control law model according to actual running parameters of the pipeline detection robot and the target global reference speed curve to obtain a slip form control law of the pipeline detection robot running in different terrain sections and controlling the speed. The method ensures that the robot runs more stably, has higher energy efficiency ratio and tracks the preset track more accurately when finishing the detection task.

Inventors

XIAO ZHIYUAN
LU SENXIANG
PENG RUI
SUN XUEXIN
CHEN JUNJIE

Assignees

东北大学

Dates

Publication Date: 20260505
Application Date: 20251223

Claims (10)

1. A method for controlling the speed of a pipeline inspection robot, comprising: constructing a motion model of the pipeline detection robot considering the opening degree of the drain valve; Constructing a speed control strategy and a speed constraint condition of the pipeline detection robot running in different terrain sections according to a target pipeline parameter and a body parameter of the pipeline detection robot, which are acquired in advance; Performing speed planning on the pipeline detection robot by adopting a dynamic planning algorithm based on the motion model, the speed control strategy and the speed constraint condition to obtain an initial global reference speed curve; smoothing and executable processing are carried out on the initial global reference speed curve to obtain a target global reference speed curve; And calculating according to actual operation parameters of the pipeline detection robot and the target global reference speed curve by adopting a pre-constructed sliding mode control law model to obtain sliding mode control laws of the pipeline detection robot operating in different terrain sections, and performing speed control on the pipeline detection robot by adopting the sliding mode control laws.
2. The method of claim 1, wherein the constructing a motion model of the pipeline inspection robot that takes into account the opening of the drain valve specifically includes: And constructing a model according to the maximum fluid thrust, the opening state of the drain valve, the fluid damping and friction resistance, the mass of the pipeline detection robot, the speed of the pipeline detection robot, the current gradient angle and the external disturbance parameters to obtain the motion model.
3. The method according to claim 1, wherein the constructing speed control strategies and speed constraints of the pipeline inspection robot operating in different terrain sections according to pre-acquired target pipeline parameters and body parameters of the pipeline inspection robot specifically comprises: Extracting features of the target pipeline parameters to obtain topographic features, wherein the topographic features comprise slope angle features, curvature radius features, topographic length features and fluid features; performing cluster analysis on the topographic features to obtain topographic types corresponding to different topographic sections of the target pipeline, wherein the topographic types comprise downhill sections, uphill sections, curve sections and flat sections; And constructing a speed control strategy and a speed constraint condition respectively corresponding to different terrain types.
4. A method according to claim 3, wherein said constructing speed control strategies and speed constraints respectively corresponding to different said terrain types comprises: When the terrain type is a downhill section, a speed control strategy which takes the maintaining speed in a safety interval, prevents overspeed or instability as a primary control target and takes the realization of kinetic energy recovery in a safety range as a secondary control target is used, and constraint condition construction is carried out based on a preset downhill safety speed upper limit, a preset steady-state speed and the speed increment of the current terrain section and the next terrain section, so that a speed constraint condition corresponding to the terrain type of the downhill section is obtained; When the terrain type is an uphill section, a speed control strategy which takes ensuring sufficient thrust to avoid insufficient power as a primary control target and takes a peak value of reduced climbing energy consumption as a secondary control target is used, and constraint condition construction is carried out based on a climbing speed set value, the preset steady-state speed and the speed increment, so that a speed constraint condition corresponding to the uphill section terrain type is obtained; when the terrain type is a curve section, a speed control strategy which takes the collision of the pipeline detection robot and the pipeline wall of the target pipeline as a primary control target and takes the detection continuity and the detection precision as a secondary control target is used, and constraint condition construction is carried out based on the preset steady-state speed, the speed increment, the allowable maximum transverse acceleration and the curvature radius of the curve section, so that a speed constraint condition corresponding to the terrain type of the curve section is obtained; And when the terrain type is a flat section, a speed control strategy which takes the maintenance of detection stability and data consistency as a primary control target and takes energy consumption caused by frequent valve action reduction as a secondary control target is used, and the speed constraint condition corresponding to the flat section terrain type is obtained by constructing the constraint condition based on the preset steady-state speed and the speed increment.
5. The method of claim 1, wherein the performing speed planning on the pipeline inspection robot by using a dynamic planning algorithm based on the motion model, the speed control strategy and the speed constraint condition to obtain an initial global reference speed curve specifically comprises: constructing a motion relation between a state variable and a control variable in the motion process of the pipeline detection robot; Performing model conversion on the motion model according to the motion relation to obtain a drain valve opening model with a variable reaction speed; constructing a mixed cost function integrating the speed smoothing index, the valve constraint index and the energy loss index; And starting from the tail end of the target pipeline based on the mixed cost function with the minimum accumulated cost as a target, solving the running speeds of the pipeline detection robots of different terrain sections in a reverse recurrence mode to obtain the optimal speeds of the pipeline detection robots corresponding to the different terrain sections so as to obtain an initial global reference speed curve.
6. The method of claim 1, wherein the smoothing the initial global reference speed profile to obtain a target global reference speed profile specifically comprises: smoothing the initial global reference speed curve by adopting a sine and cosine interpolation method to obtain a first global reference speed curve; Correcting the initial drain valve reference opening curve based on a global cost function containing a valve dynamic penalty term in the same terrain section by taking the first global reference speed curve as a benchmark and taking the initial drain valve reference opening curve as an optimization variable; inputting the corrected reference opening curve of the bleeder valve as a valve control instruction into a valve dynamic model to obtain an actual opening curve of the valve; Inputting the actual opening curve of the valve into the motion model of the pipeline detection robot for simulation calculation to obtain a target global reference speed curve; When the valve action rate exceeds a first preset threshold value or the speed tracking error exceeds a second preset threshold value, triggering a correction mechanism without updating the target global reference speed curve, wherein the correction mechanism at least comprises the steps of adjusting a nonlinear convergence factor and a time-varying gain on line based on the speed tracking error and the valve opening error, compensating and correcting a target opening instruction of the bleeder valve, limiting the compensated target opening instruction of the bleeder valve, and outputting the limited target opening instruction of the bleeder valve to an actuator.
7. The method of claim 6, wherein the calculating process is performed by using a pre-constructed sliding mode control law model according to the actual operation parameters of the pipeline detection robot and the target global reference speed curve, so as to obtain a sliding mode control law of the pipeline detection robot operating in different terrain sections, and the method specifically comprises: based on actual operation parameters and the target global reference speed curve, introducing an energy penalty term to improve a traditional sliding mode control surface to obtain an improved sliding mode surface; And calculating and processing by utilizing a pre-constructed sliding mode control law model based on the improved sliding mode surface and the target global reference speed curve to obtain the sliding mode control law of the pipeline detection robot running in different terrain sections.
8. A speed control device for a pipeline inspection robot, comprising: The first construction module is used for constructing a motion model of the pipeline detection robot considering the opening degree of the drain valve; The second construction module is used for constructing a speed control strategy and a speed constraint condition of the pipeline detection robot running in different terrain sections according to the target pipeline parameters and the body parameters of the pipeline detection robot, which are acquired in advance; The speed planning module is used for carrying out speed planning on the pipeline detection robot by adopting a dynamic planning algorithm based on the motion model, the speed control strategy and the speed constraint condition to obtain an initial global reference speed curve; The smoothing processing module is used for carrying out smoothing and executable processing on the initial global reference speed curve to obtain a target global reference speed curve; And the calculation module is used for carrying out calculation processing by adopting a pre-constructed sliding mode control law model according to the actual operation parameters of the pipeline detection robot and the target global reference speed curve to obtain the sliding mode control laws of the pipeline detection robot operating in different terrain sections, and carrying out speed control on the pipeline detection robot by adopting the sliding mode control laws.
9. A storage medium storing a computer program which, when executed by a processor, carries out the steps of the method for controlling the speed of a pipeline inspection robot according to any one of the preceding claims 1-7.
10. An electronic device comprising at least a memory, a processor, said memory having stored thereon a computer program, said processor, when executing the computer program on said memory, implementing the steps of the method for controlling the speed of a pipeline inspection robot according to any one of the preceding claims 1-7.

Description

Pipeline detection robot speed control method, device, storage medium and equipment Technical Field The present invention relates to the field of pipeline detection technologies, and in particular, to a method, an apparatus, a storage medium, and a device for controlling a speed of a pipeline detection robot. Background Chinese patent CN115079561a discloses a "three-dimensional fuzzy-PID speed control method for pipe robot". The method is based on three-dimensional fuzzy reasoning, and the core improvement is that PID parameters are adaptively adjusted in real time by using fuzzy logic. Specifically, the method uses speed errors and error change rates in the running process of the robot as input, and performs reasoning by combining a three-dimensional fuzzy rule base, so that three parameters of a proportion Kp, an integral Ki and a derivative Kd are dynamically corrected, and the controller can automatically adjust control precision according to working condition changes such as friction, resistance and the like in a pipeline environment, and the real-time performance and the robustness of the system are enhanced. The fuzzy PID control mode can maintain higher speed control precision under the condition of complex pipelines, and solves the problem that the traditional PID is easy to cause overshoot or hysteresis. The proportional, integral and differential parameters of the PID controller are adjusted in real time through the fuzzy logic, so that the stability of speed control is improved to a certain extent. However, the method has the defects that firstly, global speed planning is lacked, online correction is mainly carried out based on local speed errors, prior information such as pipeline gradient and curvature is not combined, ascending power is insufficient and descending speed is too high when long-distance operation is carried out, secondly, actuator dynamics is not modeled, fuzzy PID adjustment aims at error convergence, response characteristics of an actuating mechanism such as a bleeder valve are not considered, planning values are feasible, the actuator cannot respond quickly, tracking errors are amplified, and furthermore, energy utilization is insufficient, redundant kinetic energy of a descending segment cannot be reasonably utilized due to the fact that an energy recovery and loss model is not established, and overall energy efficiency optimization is limited. Chinese patent CN112540536B discloses a "method for controlling a pipe robot based on slip-form optimal control". The scheme mainly aims at the pipeline robot to establish a nonlinear dynamics model, design a sliding mode surface and a switching control law, and adjust sliding mode parameters through a gray wolf optimization algorithm. The focus of this type of approach is on controller parameter optimization and disturbance rejection to improve robustness to external disturbances and uncertainties. The invention lacks a global speed reference track, and the controller target mainly focuses on real-time stability and does not consider energy optimal allocation; in addition, the dynamic characteristics of the executing mechanism are not considered, and factors such as the opening change time constant and the maximum change rate limit of the bleeder valve are not included in the modeling and control law design, so that planning or control law is possible in theory, but an actual executing mechanism cannot respond in time, and thus control errors and even overshoot are generated. Disclosure of Invention In view of the above, the invention provides a speed control method, a device, a storage medium and an electronic device for a pipeline detection robot, which mainly aims to solve the problems of high cost and high energy consumption caused by lack of global speed planning, lack of dynamic constraint of an execution mechanism such as a leakage valve and the like, lack of smoothness and energy efficiency coordination of speed control. In order to solve the above problems, the present application provides a speed control method of a pipeline inspection robot, comprising: constructing a motion model of the pipeline detection robot considering the opening degree of the drain valve; Constructing a speed control strategy and a speed constraint condition of the pipeline detection robot running in different terrain sections according to a target pipeline parameter and a body parameter of the pipeline detection robot, which are acquired in advance; Performing speed planning on the pipeline detection robot by adopting a dynamic planning algorithm based on the motion model, the speed control strategy and the speed constraint condition to obtain an initial global reference speed curve; smoothing and executable processing are carried out on the initial global reference speed curve to obtain a target global reference speed curve; And calculating according to actual operation parameters of the pipeline detection robot and the target global reference spe