针对管道检测机器人系统“PipeGuard”的检测模块在检测过程中无法自适应检测不同直径的管道这一问题,提出一种基于发明问题求解理论(Theory of inventive problem solving,TRIZ)的自适应检测模块的创新设计方法,建立基于TRIZ物场模型和冲突解决理论的管道检测模块创新设计过程模型,实现了对不同直径管道的自适应检测。通过定义TRIZ问题,综合采用TRIZ物场分析模型的标准解以及冲突解决理论的分离原理和发明原理求解该设计问题。采用一种可分离的弹性鼓、膜实现了自适应检测不同直径的管道。当管道直径变大时,弹性鼓、膜通过弹簧的作用力而伸长以适应管道内壁并检测管道;当管道直径变小时,弹性鼓、膜可在管壁的作用下,自适应收缩。最后,通过力学分析和数学模型验证了方案的可行性,并给出了影响检测精度和检测灵敏度的因素以及控制检测精度和灵敏度的方法。
For the problem of detection module of in-pipe robot system "PipeGuard" could not detect the pipe with different diameter during process of inspection, a method of innovative design for adaptive detection module based on TRIZ is proposed. A innovative design process model of pipe detection module which is based on TRIZ substance-field model and conflict resolution theory, is established. The proposed method achieves adaptive inspection of the pipes with different diameters. By defining TRIZ problem, the TRIZ substance-field model’s standard solution, and the separable principle and inventive principle of conflict resolution theory are used to solve the design problem. A separable drums and a membrane are adopt to detect he pipes with different diameters. When the pipe’s diameter increases, the elastic drum and membrane will be elongated by spring’s elasticity to fit the changed diameter of the pipe and then inspect the pipe. When the pipe’s diameter decreases, the elastic drum and membrane will be adaptively shrink by the pressure of the pipe wall. Finally, solution strategy is verified by the mechanical analysis mechanical analysis and mathematical model. And then, supply the factors and detect methods for detection accuracy and sensitivity.
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