CN103712035A - Cage type pipeline aircraft - Google Patents

Abstract

A cage type pipeline aircraft comprises an external wheel frame structure which can roll and an internal four-shaft eight-rotor-wing structure. An external wheel frame is driven to roll by the difference between power and torque which are generated by internal rotor wings, so that maneuver such as advancing, retreating, turning, rising and falling can be realized. The cage type pipeline aircraft reveals a novel motion form in a pipeline and can be applied to pipeline detection and maintenance. Different from a traditional caterpillar track type or wheel type pipeline robot, the wheel frame is driven to roll by air flow, and the cage type pipeline aircraft can be used at various corners on the upper portion, lower portion, left portion and right portion of the pipeline and is not prone to being turned over by foreign matter inside the pipeline or being stuck.

Description

Translated fromChinese

笼式管道飞行器cage tube aircraft

所属技术领域Technical field

本发明涉及无人飞行器、智能机器人、运动控制等多领域，尤其涉及用于管道检测与维护的管道机器人。The invention relates to multiple fields such as unmanned aerial vehicles, intelligent robots, and motion control, and in particular to pipeline robots used for pipeline detection and maintenance.

背景技术Background technique

现如今各种石油、化工、排气等管道广泛分布于工业及生活区域内，但多数管道埋藏于地下或者位于其他不易接触的地方，因此管道检测与维护成为一个难题。管道飞行器是管道机器人中的一种，与其他管道机器人相比，其灵活度及机动性能更高，适用范围更加广泛。管道飞行器在实际管道检测与维护中具有很高的实用价值。Nowadays, various petroleum, chemical, exhaust and other pipelines are widely distributed in industrial and living areas, but most of them are buried underground or located in other inaccessible places, so pipeline inspection and maintenance have become a difficult problem. The pipeline aircraft is a kind of pipeline robot. Compared with other pipeline robots, it has higher flexibility and maneuverability, and a wider range of applications. The pipeline aircraft has high practical value in actual pipeline detection and maintenance.

目前已有的管道机器人主要是以下几种结构。The existing pipeline robots mainly have the following structures.

1、轮式结构，运用车轮结构实现在管道中的运动；1. Wheel structure, using the wheel structure to realize the movement in the pipeline;

2、履带结构，底部配有履带带动机器人在管道内运动；2. Crawler structure, the bottom is equipped with a crawler to drive the robot to move in the pipeline;

3、支撑式结构，采用特殊支撑件支撑在管道内壁上，进而实现管道运动。3. The supporting structure adopts special supports to support the inner wall of the pipeline to realize the movement of the pipeline.

但是，以上这些机构不适宜在多弯曲以及具有上下结构中的管道中工作，并且遇到异物可能导致机器人侧翻甚至卡死。However, the above mechanisms are not suitable for working in pipelines with many bends and up and down structures, and encountering foreign objects may cause the robot to roll over or even get stuck.

为了应对各种结构的管道，需要设计出一款新型的管道机器人，使其机动性、灵活性更强，可在管道内自由灵活运动。In order to cope with pipelines of various structures, it is necessary to design a new type of pipeline robot to make it more mobile and flexible, and can move freely and flexibly in the pipeline.

发明内容Contents of the invention

本发明设计一款新型笼式管道飞行器，可实现在管道内部滚动以及飞行两种运动形式。该飞行器不受管道转折结构限制，还可上下飞行运动。The invention designs a novel cage-type pipeline aircraft, which can realize two motion forms of rolling inside the pipeline and flying. The aircraft is not limited by the turning structure of the pipeline, and can also fly up and down.

该笼式管道飞行器分为内外两个部分。内部为四轴八旋翼结构，一个轴上拥有上下两个转向相反的正反浆，通过旋翼旋转产生的推理带动飞行器运动，利用旋转时产生的扭矩差实现飞行器的零半径转向。外部为可滚动的笼式结构，在旋翼推力带动下可以在管道内部滚动或者转向。与此同时，外部框架可以保护内部旋翼不受管壁碰撞。The cage tube aircraft is divided into two parts, inside and outside. The interior is a four-axis eight-rotor structure. There are two positive and negative propellers with opposite directions on one axis. The reasoning generated by the rotation of the rotors drives the movement of the aircraft, and the zero-radius steering of the aircraft is realized by using the torque difference generated during rotation. The outside is a rollable cage structure, which can roll or turn inside the pipe under the thrust of the rotor. At the same time, the outer frame protects the inner rotor from collisions with the tube walls.

该笼式管道飞行器与传统管道机器人相比，运动灵活性更高，运动范围更大，且不易损坏。依靠气流在管道内部运动，受摩擦阻力影响小，且不会打滑。通过旋转扭矩而进行的零半径转向技术可以保证飞行器在管道内部随时随地转向。Compared with the traditional pipeline robot, the cage-type pipeline aircraft has higher motion flexibility, a larger range of motion, and is less prone to damage. Relying on the airflow to move inside the pipe, it is less affected by frictional resistance and will not slip. The zero-radius steering technology through rotational torque can ensure that the aircraft can turn anytime and anywhere inside the pipe.

另外，为了实现实时对管道内部的检测以及飞行器状态的观测，还利用LABVIEW搭建了一个上位机监控平台。In addition, in order to realize the real-time detection of the inside of the pipeline and the observation of the state of the aircraft, a host computer monitoring platform was built using LABVIEW.

附图说明Description of drawings

图1是笼式管道飞行器结构设计示意图；Fig. 1 is a schematic diagram of the structural design of the cage-type tube aircraft;

图2是管道飞行器在管道内运动示意图；Fig. 2 is a schematic diagram of the movement of the pipeline aircraft in the pipeline;

图3是上位机监控平台界面；Fig. 3 is the upper computer monitoring platform interface;

具体实施方式Detailed ways

下面结合附图对本发明实施例中的技术方案进行详细描述。The technical solutions in the embodiments of the present invention will be described in detail below in conjunction with the accompanying drawings.

如图1所示，本发明为一种新型的管道飞行器。由外部轮框和内部结构组成，外部轮框④可采用碳纤维或者模型木板，左右轮框通过轮框衔接尼龙柱⑥连接，并且与中心内轴②同轴，可自由滚动。内部为四轴八旋翼结构，总共有4个轴，每个轴上固定两个旋翼①，其动力原理是依靠八个电机带动八个旋翼旋转，共同产生升力，同时借助上下旋转反向的特点产生扭矩差，控制飞行器转向。为了保证管道飞行器平衡，将电池⑤置于机体最下方，依靠电池的重量将飞行器重心拉低。As shown in Figure 1, the present invention is a novel pipeline aircraft. It consists of an external wheel frame and an internal structure. Theexternal wheel frame ④ can be made of carbon fiber or model wood. The left and right wheel frames are connected by the wheel frame connecting nylon column ⑥, and are coaxial with the central inner shaft ②, allowing free rolling. The interior is a four-axis and eight-rotor structure, with a total of 4 axes, and two rotors are fixed on each axis①. The power principle is to rely on eight motors to drive eight rotors to rotate to generate lift together. A torque difference is generated to control the steering of the aircraft. In order to ensure the balance of the tube aircraft, the battery ⑤ is placed at the bottom of the body, and the center of gravity of the aircraft is lowered by the weight of the battery.

对于飞行器的控制方面，控制器由PSoC4控制器和飞控板③组成，分别负责管道飞行器的姿态采集以及运动控制。For the control of the aircraft, the controller is composed of the PSoC4 controller and the flight control board③, which are respectively responsible for the attitude acquisition and motion control of the pipeline aircraft.

笼式管道飞行器在管道内部的运动形式如图2所示，其中(a)表示管道飞行器在水平管道内依靠倾斜机身，产生向后的推力推动外部轮框滚动前进；(b)表示遇到拐角时，依靠四个轴上的双旋翼结构产生旋转扭矩差，使机体转向，逆时针扭矩时左装，顺时针扭矩时右转；(c)表示当管道飞行器遇到垂直向上的拐角处式，依靠旋翼产生大气流推动飞行器上升；(d)表示依靠气流推力使管道飞行器缓慢下降，保证在下降过程中管道飞行器不受损坏。The movement form of the cage-type pipe aircraft inside the pipe is shown in Figure 2, where (a) indicates that the pipe aircraft relies on tilting the fuselage in the horizontal pipe to generate backward thrust to push the outer wheel frame to roll forward; (b) indicates that it encounters When turning a corner, rely on the dual-rotor structure on the four axes to generate a difference in rotational torque, so that the body turns. When the torque is counterclockwise, it is left, and when it is clockwise, it turns right; (c) means that when the tube aircraft encounters a vertical upward corner, the formula , relying on the rotor to generate atmospheric airflow to push the aircraft up; (d) means relying on the airflow thrust to make the tube aircraft descend slowly, ensuring that the tube aircraft is not damaged during the descent.

图3是该笼式管道飞行器配套的上位机监控平台，可以获取搭载在飞行器上传感器数值信息，也可以实时显示飞行器当前姿态信息。Figure 3 is the monitoring platform of the upper computer supporting the cage-type pipeline aircraft, which can obtain the numerical information of the sensors mounted on the aircraft, and can also display the current attitude information of the aircraft in real time.

Claims (3)

1. a cage pipeline aircraft, its inside is four axle eight rotor structures, the positive and negative slurry that has upper and lower two switched in opposite on an axle, outside is rotatable mouse cage type structure, it is characterized by: the no-radius that the difference in torque producing while utilizing slurry rotation realizes aircraft turns to and can roll and advance or turn at pipe interior under rotor thrust drives.

2. cage pipeline aircraft according to claim 1, is characterized in that: can realize at pipe interior and rolling and two kinds of forms of motion of flight, not limited by pipeline replicated structures, sporting flying up and down.

3. cage pipeline aircraft according to claim 1, is characterized in that: the ipc monitor platform of building by LABVIEW can be realized the observation to the detection of pipe interior and flight state in real time.

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