This paper presents a multi-link magnetic wheeled pipeline robot (PR-I), which is a flexible and modular robotic mechanism. It is designed for inspection, cleaning or disinfection of central air conditioning ventilation duct. PR-I can adapt to complex pipeline terrain, and move in the ventilation ducts freely. A novel magnetic wheel is proposed for wall climbing, which is circumferentially embedded with rectangular permanent magnets. Firstly, the wall climbing model is established to obtain the adsorption conditions, then the effects of the magnetizing direction of the magnets, magnetic wall thickness and gap on the magnetic force are analyzed by finite element method. Finally, the optimal magnetic wheel structure is obtained through dynamic simulation analysis. The motion control of the robot is carried out in an embedded system. Two fuzzy controllers based on ranging sensor and IMU are proposed for straight motion and turning motion, and gait sequences are designed for obstacle surmounting. The performance of the robot was evaluated in a real ventilation duct. The experimental results show that PR-I has good trafficability and control performance in various terrains.

研发了一种多节轮式管道机器人,能够在管道内自主越障和垂直爬壁,适用于中央空调通风管道等具有复杂地形的管道场景.开发了基于STM32的嵌入式控制系统,设计了硬件电路和控制程序,实现了机器人系统集成;在Visual Studio平台上搭建了上位机操作界面,建立了基于TCP/IP通信协议的局域网,实现上位机与管道机器人的数据互通.管道场景中的运动实验结果表明该机器人具有良好的运动控制性能.

针对管道机器人直行运动时的偏航问题,提出了一种双输入双输出的模糊控制器,以两侧管壁距离差值和机器人偏航角为输入,以两前驱动轮转速为输出.针对转弯运动时通过性低的问题,提出了一种双输入单输出的模糊控制器,以两侧管壁距离差值和其变化率为输入,以差速增量为输出.对于两种模糊控制器均通过测试验证了其有效性和控制性能.