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A Study of the Hybrid Mechanism of Wheel and Crawler for AutonomousLocomotion in Pipe by Steering Wheels

轮式与履带式管道内转向轮自主运动混合机构研究

基本信息

批准号：
06650297
负责人：
OKADA Tokuji
金额：
$ 1.22万
依托单位：
Niigata University
依托单位国家：
日本
项目类别：
Grant-in-Aid for General Scientific Research (C)
财政年份：
1994
资助国家：
日本
起止时间：
1994 至 1995
项目状态：
已结题

来源：
https://kaken.nii.ac.jp/en/grant/KAKENHI-PROJECT-06650297/
关键词：
Mobile Robot Autonomous Robot Crawler Inspection Robot Robots in Pipe Autonomous Locomotion Worm Gear Direct Drive Motor Mobile Robot Antonomous Robot Crawler Inspection Robot Robots in Pipe Autonomous Locomotion Worm Gear Di

项目摘要

In order to enable us to monitor or to assure whether a pipe has a safe interior condition, we have designed a self-adjusting vehicle composed basically of a pair of wheel set and a crawler. The vehicle is driven by a directdrive motor so the steering specification is satisfied. The interfaces between the vehicle and its central control processor are also designed and fabricated. At the central control, the collected image is processed.In fact, the hybrid mechanism composed of wheels, and a crawler is adopted for getting a big force of traction. Since the interior of the pipe is limited in space, the direct drive motor is embedded inside the crawler unit, and both ends of the driving shaft has a worm gear for force of traction's magnification. Also, the screws are placed in opposite directions so that the sprockets for supporting the crawler belt decreases in number. Affects of such variables like a standing angle, twisting angle, angular shift of the center, and angular shift from the … More gravitational direction of the vehicle are considered. Four-times resolution rotary encoders are utilized to collect the variables, and the encoders contribute for controling the vehicle autonomously .Two units of the crawlers are pressed against the wall of the pipe always in opposite direction from the center of the vehicle. One of the two is controlled as a master and the other one as a slave. Ther fore, the vehicle can move along pipes having various kinds of shape, size, and orientation. Moreover, the vehicle throws a laser beamin its front to extract a three dimensional profile of the pipe interior, and the brighy spot on the pipe is superimposed in the screen and monitored by a CCD camera mounted almost on the center line of the vehicle. The spot position is discriminated from the image data and is determined in 3-D space since the beam is thrown by an on-off control program and the beam angle is given by sensing mirror angles. Image data is transferred to the image processor repetitively while the vehicle moves. The image processor provides a profile of the pipe internal by applying a pattern matching method to the collected data. Less

为了使我们能够监测或确保管道是否具有安全的内部条件，我们设计了一种基本上由一对轮对和履带组成的自调节车辆。车辆由直接驱动电机驱动，因此满足转向规范。设计并制作了车辆与中央控制器的接口电路。在中央控制器处，对采集到的图像进行处理。实际上，采用了由车轮和履带组成的混合机构来获得较大的牵引力。由于管道内部空间有限，直接驱动电机嵌入履带单元内，驱动轴两端有蜗轮蜗杆，用于牵引力的放大。而且，螺钉沿相反方向放置，使得用于支撑履带的螺钉的数量减少。这些变量的影响，如站立角，扭转角，中心的角位移，以及从 ...更多信息车辆的重力方向。采用四倍分辨率的旋转编码器采集变量，实现机器人的自主控制。两组履带以机器人中心为中心，始终以相反的方向贴靠在管道壁上。其中一个作为主控制器，另一个作为从控制器。因此，车辆可以沿着具有各种形状、尺寸和取向的管道移动。此外，车辆在其前方投射激光束以提取管道内部的三维轮廓，并且管道上的亮点被叠加在屏幕上，并由安装在车辆中心线附近的CCD摄像机监视。从图像数据中辨别光斑位置，并在3-D空间中确定光斑位置，因为光束由开-关控制程序投射，并且光束角度由感测反射镜角度给出。当车辆移动时，图像数据被重复地传送到图像处理器。图像处理器通过将图案匹配方法应用于所收集的数据来提供管道内部的轮廓。少