CN105856234B - A kind of axle caterpillar type high-speed natural gas line robot control system of three core two - Google Patents
A kind of axle caterpillar type high-speed natural gas line robot control system of three core two Download PDFInfo
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- CN105856234B CN105856234B CN201610400325.8A CN201610400325A CN105856234B CN 105856234 B CN105856234 B CN 105856234B CN 201610400325 A CN201610400325 A CN 201610400325A CN 105856234 B CN105856234 B CN 105856234B
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
- B25J9/161—Hardware, e.g. neural networks, fuzzy logic, interfaces, processor
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/005—Manipulators mounted on wheels or on carriages mounted on endless tracks or belts
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
- B25J9/1697—Vision controlled systems
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
- F16L55/00—Devices or appurtenances for use in, or in connection with, pipes or pipe systems
- F16L55/26—Pigs or moles, i.e. devices movable in a pipe or conduit with or without self-contained propulsion means
- F16L55/28—Constructional aspects
- F16L55/30—Constructional aspects of the propulsion means, e.g. towed by cables
- F16L55/32—Constructional aspects of the propulsion means, e.g. towed by cables being self-contained
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
- G05D1/0248—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means in combination with a laser
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0259—Control of position or course in two dimensions specially adapted to land vehicles using magnetic or electromagnetic means
- G05D1/0263—Control of position or course in two dimensions specially adapted to land vehicles using magnetic or electromagnetic means using magnetic strips
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
- F16L2101/00—Uses or applications of pigs or moles
- F16L2101/30—Inspecting, measuring or testing
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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
- Robotics (AREA)
- Chemical & Material Sciences (AREA)
- Electromagnetism (AREA)
- General Physics & Mathematics (AREA)
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- Combustion & Propulsion (AREA)
- General Engineering & Computer Science (AREA)
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- Computer Vision & Pattern Recognition (AREA)
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- Optics & Photonics (AREA)
- Evolutionary Computation (AREA)
- Software Systems (AREA)
- Mathematical Physics (AREA)
- Fuzzy Systems (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of axle caterpillar type high-speed natural gas line robot control system of three core two, described controller uses three nuclear control devices, including ARM, FPGA and DSP, described ARM, FPGA and DSP carries out mutually communication connection, described is connected based on ccd image collecting unit and image storage unit with DSP communication connections, described humidity collection unit and based on Hall effect pipeline inspection collecting unit with ARM and FPGA communications.Through the above way, brand-new three nuclear control pattern of the independent research of the present invention based on ARM+FPGA+DSP, the SERVO CONTROL of two axle permagnetic synchronous motors is realized by FPGA, DSP realizes the real-time processing of IMAQ data signal and communicated with ARM, ARM is freed among the work of complexity, the real time position collection of two axle three-phase permanent magnet synchronous motors is realized, and responds DSP interrupt, realizes data communication and storage live signal.
Description
Technical field
The present invention relates to the field of large-scale pipeline robot, more particularly to a kind of axle caterpillar type high-speed natural gas tube of three core two
Pipeline robot control system.
Background technology
The pumped (conveying) medium of natural gas line belongs to inflammable, explosive material, the hydrogen sulfide contained in medium, carbon dioxide, trip
From impurity such as water, dust, the pipeline of laying is set to be in inside and outside etching condition, or even the internal congestion situations that can produce are sent out sometimes
It is raw.Along with the factor such as environment, geology, meteorology and hydrological disaster, tubing and design defect, operational error or even artificial destruction,
The safety of pipeline is threatened by many factors.
On June 4th, 1989, a gas pipeline of the former Soviet Union leak, and two row are to running a train apart from leakage point 1
Kilometer outside railway line on by when, train friction produce spark cause leakage natural-gas blast, cause people more than 600 dead
Die, hundreds of hectares of forests are burnt；In August, 2000, the gas pipeline hair of the 720 mm bores of the New Mexico southeast one
Raw gas explosion, cause incessanly to fight greatly and at least cause 10 people dead, the place beyond more than 30 kilometers can be seen huge
Type fireball rushes to sky, and ground leaves long 25m, deep 6m hollow place together after blast；The oil and gas pipeline in China is also once more
Secondary that accident occurs, pipeline occurs the accidents such as explosion, leakage, stopping transportation and not only causes huge property loss, and jeopardizes ecology
Environment.
Pipe robot is that one kind can carry one or more sensings along either outside automatically walk inside pipeline
Device and operation machinery, a series of electromechanics of pipeline operations is completed under the control of operating personnel or under computer controlled automatic
Integral system.The research of pipe robot starts from eighties of last century the forties, to the seventies due to microelectric technique, meter
Calculation machine technology, the development and progress of automatic technology, external pipeline robot technique have obtained fast development the beginning of the nineties, ground
Many experimental prototypes have been made, and have achieved substantial amounts of achievement in research.
With pipe robot inspection natural gas line, the efficiency of pipe detection can be not only improved, and for improving labor
Dynamic condition, reduces labor intensity, and improves operating efficiency, reduces operating cost, guarantees personal safety and suffer from highly important meaning
Justice.But it is domestic also without pipe robot inspection natural gas line is used, natural gas line blast happens occasionally, caused huge
Big economic loss and environmental pollution.
One practical natural gas tube pipeline robot must possess following components：
1）Image capturing system：Image capturing system can be found that in pipeline produced problem, and can be work
Personnel's offer pipeline is damaged and congestion situations, and reliable basis are provided to change pipeline either cleaning pipeline；
2）Damage acquisition system：Damage acquisition system can find the abnormal conditions that pipe-line system outer wall occurs in time, keep away
Exempted from pipeline and long-term breakage causes anti-pressure ability to weaken, ultimately result in natural gas largely leakage and produce explosion accident；
3）Humidity detects and obturator detection：If humidity is excessive, the pumped (conveying) medium of natural gas line is easily formed pipeline
Corrosion, while moieties understand heap to produce congestion situations；
4）Motor：Actuating motor is that the power of pipe robot implements part, and it converts the energy of power supply in real time, according to pipe
Pipeline robot microprocessor is instructed to perform related walking motion of the robot in natural gas line；
5）Algorithm：Algorithm is the soul of natural gas tube pipeline robot, interior because natural gas line is the pipeline of a closing
Portion's situation is extremely complex, natural gas tube pipeline robot must use certain intelligent algorithm just can accurately out of pipeline a little to
Up in addition, form point-to-point inspection, and real-time storage collection image, pipeline steam information, pipeline obstruction information, pipeline
Damage situations and damaged location information；
6）Microprocessor：Microprocessor is the core of natural gas tube pipeline robot, is natural gas tube pipeline robot
Brain, all information in pipeline, including humidity, congestion situations, pipe damage information and damage position information in pipeline,
Motor status information, battery status information etc. are required for by microprocessor processes and make corresponding judgement.
The domestic research to pipe robot is simply at the early-stage, is to use monokaryon controller, is in laboratory sample
The machine design phase, there is a certain distance from large-scale use, mainly face problems with：
（1）Controlled technique influence, all pipe robots use monokaryon controller, the computing capability of controller compared with
Weak, pipe robot can not quickly handle real time environment, and robot ambulation speed is relatively low, and inspection pipeline speed is slower, by outer
Boundary's interference effect less stable；
（2）For using chargeable storage using the energy entrained by motor-driven pipe robot, these storages
Battery is that, without protection circuit, the life-span is shorter by formation high-voltage great-current energy resource system after simply connecting and being in parallel,
Often occurs the abnormal work for even interfering with pipe robot during normal work；
（3）For using the stepper motor either pipe robot of DC motor Driver, by motor own efficiency
Influence, energy utilization rate is relatively low, causes robot displacement in pipeline shorter；
（4）For using the stepper motor either pipe robot of DC motor Driver, by power of motor density
Influence, because used motor volume is larger, it is larger to ultimately result in the volume of robot, heavier-weight, has a strong impact on
The use range of pipe robot；
（5）Either based on the vector controlled either servo based on orientation on rotor flux algorithm permagnetic synchronous motor
Control, in addition to carrying out multiple coordinate transform and inverse transformation, the closed-loop control of electric current and speed is also carried out, thus realized
More complicated and requirement of real-time is higher, uses DSP technologies either ARM technologies and is realized with software mode, system development
Cycle is long, and the processor time that the algorithm takes is relatively more, have impact on DSP either ARM processing functions；Using
Although special sport control chip can reduce processor processing time, its internal PID regulation can only meet single
It is required that application of the pipe robot in complex environment can not be met；
（6）Self adjustment capability of pipe robot motion state is poor, and controlled mode influences, and robot is in pipeline
Attitude parameter identification is poor, and self plane of robot None- identified and the angle of pipeline principal plane, robot can not real-time basis
Peripheral environment adjusts the pid parameter of oneself, causes to tilt during robot ambulation, or even overturns sometimes, causes task to be lost
Lose；
（7）For there is the natural gas line of obstruction, common wheeled robot and contact area of ground are less, obstacle climbing ability
It is weaker, it can not even clear the jumps sometimes, finally can not inspection completion task.
The stator of permasyn morot has identical stator structure with common electrically excited synchronous motor, simply rotor
On the excitation pole and Exciting Windings for Transverse Differential Protection of synchronous machine are instead of using Nd-Fe-B rare earth permanent magnetic material as magnetic pole, make the structure of motor
It is relatively simple, and easy out of order collector ring and brush are eliminated, non-brushing is realized, improves the reliable of motor running
Property.Because being not required to exciting current, therefore the copper loss of Exciting Windings for Transverse Differential Protection can be saved, greatly improve the efficiency of motor；Rare earth permanent magnet
Material is used so that power of motor density is higher, so the volume of motor be can be made smaller, suitable volume requirement is higher
Occasion.Permasyn morot is in addition to having obvious energy-saving effect, also with the characteristic that rotating speed is accurate, noise is low, rare earth
Permagnetic synchronous motor be based on it is rotor field-oriented or based on vector control system can realize high accuracy, high dynamic performance,
Large-scale speed governing or location control, these characteristics cause rare earth permanent-magnet synchronization motor be particularly suitable for being used in pipe robot this
In the more special robot control system of a little requirements.
Crawler-type mobile mechanism is the expansion of wheeled locomotion mechanism, and crawler belt plays a part of continuously paving the way to wheel in itself.
Relative to ratcheting mechanism, crawler-type mobile mechanism has many advantages, such as, such as：Bearing area is big, and grounding pressure is small；Rolling resistance
It is small, pass through better performances；Off-road mobility is good；There is grouser on crawler belt bearing-surface, be not easy to skid, traction adhesion property is good, favorably
In the tractive force that performance is larger；Crawler-type mobile mechanism is conjugated by changing the position of crawler belt or the mechanism form of crawler belt to reach
The requirement of varying environment is adapted to, the angle of two crawler belts can be adjusted, to adapt to different operation calibers.
The content of the invention
The present invention solves the technical problem of provide a kind of axle caterpillar type high-speed natural gas tube pipeline robot of three core two
Control system, independent research are known clearly the brand-new three nuclear control pattern based on ARM+ FPGA+DSP, and controller is using ARM as processor
Core, the SERVO CONTROL of two axle permagnetic synchronous motors is realized by FPGA, and DSP realizes the real-time processing of IMAQ data signal simultaneously
Communicated with ARM, ARM is freed among the work of complexity, realizes that the real time position of two axle three-phase permanent magnet synchronous motors is adopted
Collection, and DSP interrupt is responded, realize data communication and storage live signal.
In order to solve the above technical problems, one aspect of the present invention is：Provide a kind of axle crawler belt of three core two
Formula high speed natural gas line robot control system, including supply unit, controller, permagnetic synchronous motor X, permagnetic synchronous motor
Y, based on ccd image collecting unit, image storage unit, humidity collection unit, based on Hall effect pipeline inspection collecting unit
And the described controller of electric current driving is provided separately in pipe robot, described supply unit, described controller uses three
Nuclear control device, including ARM, FPGA and DSP, described ARM, FPGA and DSP carry out mutually communication connection, described ARM and
FPGA sends the first control signal and the second control signal respectively, is distinguished by the first described control signal and the second control signal
The motion of control pipeline robot again, institute after control described permagnetic synchronous motor Y and permagnetic synchronous motor X signal synthesis
Being communicated based on ccd image collecting unit and image storage unit with DSP for stating is connected, and described humidity collection unit and is based on
Hall effect pipeline inspection collecting unit connects with ARM and FPGA communications.
In a preferred embodiment of the present invention, described supply unit uses lithium ion battery.
In a preferred embodiment of the present invention, the first described control signal and the second control signal are PWM ripple controls
Signal processed.
In a preferred embodiment of the present invention, described ARM uses STM32F746；Described FPGA is used
QUICKLOGIC；Described DSP uses TMS320F2812.
In a preferred embodiment of the present invention, described pipe robot includes robot housing, laser displacement senses
Device, magnetic navigation sensor, distance correction sensor, three axis accelerometer and timing belt, described laser displacement sensor point
Not An Zhuan robot housing front end, described magnetic navigation sensor and distance correction sensor are arranged at robot housing
Go up and be located at the lower section of laser displacement sensor, described timing belt is separately positioned on the left and right sides of robot housing and divided
It is not connected with permagnetic synchronous motor X and permagnetic synchronous motor Y, described three axis accelerometer is arranged on robot housing and position
Between permagnetic synchronous motor X and permagnetic synchronous motor Y.
In a preferred embodiment of the present invention, described laser displacement sensor include front laser displacement sensor,
Left laser displacement sensor and right laser displacement sensor, described front laser displacement sensor are being arranged on robot housing just
The centre position in front, described left laser displacement sensor and right laser displacement sensor are angularly disposed in robot shell respectively
Left and right ends immediately ahead of body.
In a preferred embodiment of the present invention, described timing belt uses the wheel drive mode of two axle six, is by one
Perimeter surface is provided with the closed ring crawler belt of equidistant tooth and corresponding belt wheel is formed.
In a preferred embodiment of the present invention, described high speed natural gas line robot control system is additionally provided with
Position machine program, detect based on ARM motion control programs, based on DSP IMAQs and based on Hall effect pipe damage, it is described
Host computer procedure also include pipeline read, position positioning and power information, it is described also to be included based on ARM motion control programs
Controlled based on the axle permagnetic synchronous motor SERVO CONTROLs of FPGA two, data storage and I/O, it is described based on DSP IMAQs and base
In Hall effect pipe damage detection respectively with based on ccd image collecting unit and based on Hall effect pipeline inspection collecting unit
Communication connection.
In a preferred embodiment of the present invention, described high speed natural gas line robot control system also includes photoelectricity
Encoder, described photoelectric encoder are separately mounted on permagnetic synchronous motor X and permagnetic synchronous motor Y.
The beneficial effects of the invention are as follows：The axle caterpillar type high-speed natural gas tube pipeline robot of the three core two control system of the present invention
System, instead of the motors such as stepper motor, direct current generator using the higher permagnetic synchronous motor of efficiency and power density, improves
The utilization rate and reduction robot volume of the energy, in order to improve arithmetic speed, ensure the stability of automatic pipeline robot system
And reliability, the present invention introduce FPGA and DSP in the controller based on ARM, formation is based on ARM+
FPGA+DSP brand-new three nuclear control device, this controller takes into full account effect of the battery in this system, work in control system
Two maximum axle Permanent magnet synchronous servo systems of work amount are given FPGA completions, pipeline reading, position positioning and power information etc. and given
ARM processing, the characteristics of ARM data processing speeds are relatively fast is given full play to, and the function such as image data acquiring and storage is given
DSP is completed, and is so achieved that ARM, FPGA and DSP division of labor, while can also be communicated between three, is carried out in real time
Data exchange and calling.
Brief description of the drawings
Technical scheme in order to illustrate the embodiments of the present invention more clearly, make required in being described below to embodiment
Accompanying drawing is briefly described, it should be apparent that, drawings in the following description are only some embodiments of the present invention, for
For those of ordinary skill in the art, on the premise of not paying creative work, it can also be obtained according to these accompanying drawings other
Accompanying drawing, wherein：
Fig. 1 is that the present invention is preferably implemented with the axle caterpillar type high-speed natural gas line robot control system one of three core two
The schematic diagram of example；
Fig. 2 is pipe robot two-dimensional structure schematic diagram；
Fig. 3 is Fig. 1 programme diagram；
Fig. 4 is pipe robot inspection schematic diagram.
Embodiment
The technical scheme in the embodiment of the present invention will be clearly and completely described below, it is clear that described implementation
Example is only the part of the embodiment of the present invention, rather than whole embodiments.It is common based on the embodiment in the present invention, this area
All other embodiment that technical staff is obtained under the premise of creative work is not made, belong to the model that the present invention protects
Enclose.
As shown in figure 1, the embodiment of the present invention includes：
A kind of axle caterpillar type high-speed natural gas line robot control system of three core two, including supply unit, controller, forever
Magnetic-synchro motor X, permagnetic synchronous motor Y, based on ccd image collecting unit, image storage unit, humidity collection unit, be based on
The described control of electric current driving is provided separately in Hall effect pipeline inspection collecting unit and pipe robot, described supply unit
Device processed, described controller use three nuclear control devices, including ARM, FPGA and DSP, and described ARM, FPGA and DSP carry out mutual
Communication connection, described ARM and FPGA send the first control signal and the second control signal respectively, are believed by the first described control
Number and the second control signal control respectively described permagnetic synchronous motor Y and permagnetic synchronous motor X signal synthesize after control again
The motion of tubulation pipeline robot, described communicated based on ccd image collecting unit and image storage unit with DSP are connected, institute
The humidity collection unit stated and connected based on Hall effect pipeline inspection collecting unit with ARM and FPGA communications.Wherein, it is described
Supply unit use lithium ion battery；Described the first control signal and the second control signal is PWM wave control signals.
In above-mentioned, described ARM uses STM32F746；Described FPGA uses QUICKLOGIC；Described DSP is used
TMS320F2812。
The brand-new STM32F7 MCU series of products that STMicroelectronics is produced, be global first volume production and
Possess the microcontroller of 32 bit ARM Cortex-M7 processors.Cortex-M7 is newest release in Cortex-M series of products
And efficiency highest processor core, brand-new STM32F7 MCU be ST STM32 MCU series of products in efficiency highest one
Product, Cortex-M7 cores and high-order peripheral unit are combined, application program efficiency, newly-increased New function can be lifted, extend battery
In the life-span, ensure safety and reduce as far as possible using outer member to save the advantages of cost and space etc. are incomparable.
STM32F7 series of products include STM32F745 and STM32F746, and this two products, which are all equipped with, possesses floating-point operation
The Cortex-M7 cores of unit and DSP extended functions, arithmetic speed highest 216MHz.STM32F7 MCU series of products are by ARM
The advantage that Cortex-M7 efficiency surmounts early stage core (for example Cortex-M4) applies to ultimate attainment, and efficiency reaches nearly DSP two
Times.
FPGA employs logical cell array LCA（Logic Cell Array）Such a new ideas, inside includes can
Configure logic module CLB（Configurable Logic Block）, output input module IOB（Input Output Block）
And interconnector（Interconnect）Three parts.FPGA basic characteristics mainly have：Using FPGA design ASIC circuit, use
Family need not throw piece production, with regard to the chip that can be shared；FPGA can do the pilot scale of other full customs or semi-custom ASIC circuit
Print；There are abundant trigger and I/O pins inside FPGA；FPGA be the design cycle is most short in ASIC circuit, development cost most
One of low, least risk device；FPGA uses high speed CHMOS techniques, low in energy consumption, can be compatible with CMOS, Transistor-Transistor Logic level.On
The feature of stating allows design needs of the user according to oneself, and FPGA inside is carried out again by specific placement-and-routing's instrument
Combination connection, designs the application specific integrated circuit of oneself within the most short time, is so reduced by cost, shortens the construction cycle.
Because FPGA uses the design philosophy of software implementation to realize the design of hardware circuit, the system tool based on FPGA design is so allowed for
There are good reusable and modification property.This brand-new design philosophy has gradually been applied in high performance exchange drive control
On, and it is fast-developing.These characteristics cause FPGA to be particularly suitable in servo control, two used especially for the present invention
Axle six takes turns natural gas line inspection SERVO CONTROL structure, and the servo programe that can greatly reduce STM32F7 controllers is write.
TMS320F2812 is 32 fixed-point digital signal processings of novel high-performance based on the compatible C28x kernels of code
Device, the instruction execution cycle of C28x kernels have reached 6.67ns, and maximum running frequency can reach 150MHz, and F2812 is integrated with
Many peripheral hardwares, there is provided a whole set of on-chip system, its On-Chip peripheral mainly include 12,2 × 8 tunnel ADC (during most fast 80ns conversions
Between), 2 road SCI, 1 road SPI, 1 road McBSP, 1 road eCAN interfaces etc., and carry two event manager modules (EVA, EVB).Separately
Outside, the device also has 3 32 independent bit CPU timers, and up to 56 GPIO pins being independently programmable.F2812 is used
Unified addressing mode, chip internal has 18K SARAM, including totally 5 memory blocks, each memory block are kept by MO, M1, L0, L1, H0
It is independent, different RAM blocks can be conducted interviews in the uniform machinery cycle, so as to reduce streamline time delay.And inside F2812
There are the FLASH of 128K words, address space 3D8000h~3F7FFFh, suitable for low-power consumption, high performance control system.In addition
F2812 provides external memory storage expansion interface (XINTF), facilitates carry out system extension, and its addressing space can reach 1MB；
These characteristics cause F2812 while possessing the data-handling capacity of digital signal processor brilliance, to have again and be suitable to control
Piece in peripheral hardware and interface, can be widely applied in various high performance systems controls, These characteristics make it that TMS320F2812 is special
Not Shi He crusing robot figure collection, image storage and positional information storage.
Automatic detection is carried out in order to accurate guide duct robot, the present invention is using two sets of sensors navigation patterns
（A set of Magnetic Sensor navigation, a set of laser displacement sensor navigation）, pipe robot two-dimensional structure such as Fig. 2 institutes of the invention
Show：Described pipe robot includes robot housing K, laser displacement sensor, magnetic navigation sensor ME1, distance correction and passed
Sensor S, three axis accelerometer A1 and timing belt T, before described laser displacement sensor is separately mounted to robot housing K
End, described magnetic navigation sensor ME1 and distance correction sensor S are arranged on robot housing K and are located at laser displacement
The lower section of sensor, described timing belt T be separately positioned on robot housing K left and right sides and respectively with permanent magnet synchronous electric
Machine X connects with permagnetic synchronous motor Y, and described three axis accelerometer A1 is arranged on robot housing K and is located at permanent-magnet synchronous
Between motor X and permagnetic synchronous motor Y.Wherein, described laser displacement sensor include front laser displacement sensor LSF,
Left laser displacement sensor LSL and right laser displacement sensor LSR, described front laser displacement sensor LSF are arranged on machine
Centre position immediately ahead of device people's housing K, described left laser displacement sensor LSL and right laser displacement sensor LSR difference
The angularly disposed left and right ends immediately ahead of robot housing K.
The magnetic navigation sensor ME1 moment detects the magnetic stripe in pipeline, and sensor is the first navigation criterion according to this, works as magnetic stripe
When the deviation distance that is not present or navigates is larger, left laser displacement sensor LSL and right laser displacement sensor LSR collective effects are sentenced
Disconnected direction of advance and the distance of left and right tube wall, and provide navigation foundation, front laser displacement as pipe robot linear motion
Sensor LSF, which is provided according to and stopped for the differentiation of pipe robot advance barrier, does criterion.
In order to improve the stability of pipe robot walking navigation during closed conduit, the adjust automatically of posture is realized
And independent navigation ability, the present invention add three axis accelerometer A1 in natural gas line robot servo hardware system.
Whole during pipe robot walks pipeline to open three axis accelerometer A1, three axis accelerometer A1 is used for measuring pipeline machine
The angular acceleration of three directions of advance of people, controller obtain its angle of inclination according to the angular acceleration measured by continuous integral.
When the posture of pipe robot changes more than setting threshold values, in a new sampling period controller just immediately to its position
Compensation is put, pipe robot is avoided in the process of walking because tilting generation that is excessive and translating into phenomenon, improves its quick row
Walk stability when navigating；If carrying out continuous integral to three axis accelerometer A1, and it is transformed in navigational coordinate system, managed
Pipeline robot can just obtain its acceleration in navigational coordinate system in closed conduit independent of any external information
The information such as degree, speed, yaw angle and position, caused navigation information continuity is good and noise is very low, greatly enhances
The autonomous inertial navigation ability of pipe robot.
Timing belt T transmissions are that the closed ring crawler belt and corresponding belt wheel institute group of equidistant tooth are provided with by an inner peripheral surface
Into.During motion, be meshed transmission motion and power with tooth with the teeth groove of belt wheel, is a kind of engaged transmission, thus is passed with gear
The various advantages of dynamic, Chain conveyer and Belt Drive.Timing belt K transmissions have accurate gearratio, no slippage, can obtain constant
Fast ratio, can precision drive, stable drive, can shock-absorbing, noise is small, transmission efficiency, is not required to lubricate, pollution-free, is particularly suitable for
Be not allow for pollution and the more severe occasion of working environment under normal work, compact-sized particularly suitable spinning transmission, therefore
The present invention forms the wheel drive mode of two axle six using timing belt technology.
The present invention have developed one kind by two rare-earth permanent-magnetic synchronous electricity to solve the problems, such as that domestic pipeline robot is present
The core natural gas tube pipeline robot of six wheel crawler three of machine differential driving, the servo control algorithm of two rare earth permanent-magnet synchronization motors
Completed by FPGA, increase the rapidity of system-computed, four auxiliary wheels by timing belt respectively with left and right driving motor mechanical chain
Connect, multiple wheels of left and right sides are respectively by crawler belt mechanical linkages, and then natural gas tube pipeline robot enters by its carry sensors
Row inspection major gas pipeline.
The present invention has independently been invented based on the complete of ARM+ FPGA+DSP on the premise of external Dynamic matrix control thought is absorbed
New three nuclear control pattern.Controller principle figure such as Fig. 1 of this secondary design：Control panel is realized using ARM as processor core by FPGA
The SERVO CONTROL of two axle permagnetic synchronous motors, DSP realizes the real-time processing of IMAQ data signal and communicated with ARM, ARM
Freed among the work of complexity, realize the real time position collection of two axle three-phase permanent magnet synchronous motors, and responded in DSP
It is disconnected, realize data communication and storage live signal.
As shown in figure 3, the described axle caterpillar type high-speed natural gas line robot control system of three core two is additionally provided with
Position machine program, detect based on ARM motion control programs, based on DSP IMAQs and based on Hall effect pipe damage, it is described
Host computer procedure also include pipeline read, position positioning and power information, it is described also to be included based on ARM motion control programs
Controlled based on the axle permagnetic synchronous motor SERVO CONTROLs of FPGA two, data storage and I/O, it is described based on DSP IMAQs and base
In Hall effect pipe damage detection respectively with based on ccd image collecting unit and based on Hall effect pipeline inspection collecting unit
Communication connection.
For the above-mentioned purpose, the present invention takes following technical scheme, in order to improve the utilization rate of the energy and reduce robot
Volume, the system instead of the motors such as stepper motor, direct current generator with the higher permagnetic synchronous motor of efficiency and power density；
In order to improve arithmetic speed, ensure the stability and reliability of automatic pipeline robot system, the present invention is in the control based on ARM
FPGA and digital signal processor DSP are introduced in device, forms the brand-new three nuclear control device based on ARM+ FPGA+DSP, this control
Device takes into full account effect of the battery in this system, and two maximum axle Permanent magnet synchronous servo systems of workload in control system are handed over
ARM processing is given to FPGA completions, pipeline reading, position positioning and power information etc., gives full play to ARM data processing speed phases
To it is very fast the characteristics of, and image data acquiring and storage etc. function give DSP completion, be so achieved that ARM, FPGA and DSP
The division of labor, while can also be communicated between three, carry out data exchange and calling in real time.
As shown in figure 4, for the nuclear control devices of ARM+ FPGA+DSP tri- designed herein, under power-on state, ARM
First to the supply unit SOC of pipe robot（State-of-charge）Judged, if battery power is relatively low, controller can send report
Alert signal；It is first by USB interface that the information such as inspection natural gas line length and radius is defeated by PC if battery power is higher
Enter to ARM, then pipe robot is placed to pipe detection mouth, and robot is introduced into self-locking state, waits inlet valve F1 to beat
Open；After when front, laser displacement sensor LSF determines that valve is opened, pipe robot enters buffer area to be checked, then entrance
Valve F1 is closed, and inlet valve F2 is opened, and pipe robot enters pipe detection region；The IMAQ that pipe robot carries
System, humidity collection system and pipe damage detection device are opened, and pipe robot is according to setting speed along inspection route
Navigation sensor parameter is input to FPGA by fast inspection, ARM, and these navigation sensor parameters are converted into pipeline machine by FPGA
People permagnetic synchronous motor X and permagnetic synchronous motor Y distance, speed and the acceleration to be run, FPGA in the case where specifying patrolled and examined track
The feedback of current feedback, photoelectric encoder feedback and three axis accelerometer in conjunction with motor, is obtained through internal servo control algorithm
To the PWM wave control signals of two permanent magnet synchronous motors control, the real-time servo control of two permanent magnet synchronous motors is realized；DSP
Gather duct size information in real time by CCD and store, if DSP has a question some position to inspection, will be communicated with ARM, ARM hairs
Go out cutoff command and pipe robot is stopped by FPGA, then pass through the collection of DSP secondary images and fault localization device pair
The state of pipe-line system is judged.
Reference picture 1, Fig. 2, Fig. 3 and Fig. 4, its specific function are realized as follows：
1）After pipe robot power supply opening, ARM can be judged supply unit SOC, if supply unit SOC is relatively low
When, ARM will forbid FPGA to work, and two permanent magnet synchronous motors PWM ripples are blocked, while alarm sensor will work and send report
Alert signal；If supply unit SOC is normal, pipe robot, which enters, treats working condition, waits work order；
2）Manually the information such as duct length, radius and pipeline topographic map are passed to by USB interface by PC handle
ARM, duct size information is anticipated by ARM, then the starting end of artificial conduit robot to pipe detection, in order to accurately lead
Walking of the aviation management pipeline robot in closed conduct, ARM first turn on inertia of the pipe robot based on three axis accelerometer A1
Navigation pattern；
3）Pipe robot ARM begins through magnetic navigation sensor ME1 and reads area navigation magnetic stripe, then according to magnetic navigation
Sensor ME1 value of feedback is compared with actual set central value, and this deviation is inputed to FPGA by ARM, and FPGA is this deviation
Parameter be converted into pipe robot specify patrolled and examined track under permagnetic synchronous motor X and permagnetic synchronous motor Y to be run distance,
Speed and acceleration, FPGA is fed back in conjunction with the current feedback of motor, photoelectric encoder and the feedback of three axis accelerometer, through interior
Portion's servo control algorithm obtains the PWM wave control signals of two permanent magnet synchronous motors control, makes pipe robot along navigation magnetic
Bar advances at a slow speed, while adjusts the pid parameter of internal SERVO CONTROL program in real time according to peripheral environment FPGA, makes system easily real
Now it is segmented P, PD, PID control and nonlinear PID controller；The front laser displacement sensor LSF during pipe robot advance
By work, ARM detects the distance D of pipe robot and front inlet valve F1 in real time, then passes through in the range of stably stop
FPGA allows pipe robot automatic stopping, then original place self-locking；
4）When front, laser displacement sensor LSF detects that inlet valve F1 is opened, pipe robot will be opened automatic
Cruise mode, the distance that controller ARM moves real-time record pipe robot along magnetic stripe, when it is determined that robot completely into
Behind region to be checked, inlet valve F1 will be again switched off, after natural gas leakage device detects that inlet valve F1 is completely closed, entrance
Valve F2 will be opened, and now laser displacement sensor LSF is by the state of inlet valve F2 in front of secondary judgement, it is determined that front valve
Open it is errorless after, pipe robot initially enter region of patrolling and examining start detect natural gas line inside actual conditions；
5）After pipe robot enters pipe detection region, it will be opened based on ccd image acquisition system, ARM is first according to magnetic
Navigation sensor ME1 feedback, the actual positional information of pipe robot and three axis accelerometer A1 numerical value are read, and with setting
Positioning, which is put, to compare, and determines the off-center distance of pipe robot and inclined angle, ARM inputs to this deviation signal
FPGA, FPGA this straggling parameter be converted into pipe robot specify patrolled and examined track under permagnetic synchronous motor X and permanent magnetism it is same
Walk motor Y distance, speed and the acceleration to be run, current feedback, photoelectric encoder feedbacks and three of the FPGA in conjunction with motor
The feedback of axis accelerometer, the PWM wave control signals of two permanent magnet synchronous motors control are obtained through internal servo control algorithm, and
Adjust pipe robot posture in real time by drive circuit, make pipe robot stable operation in magnetic stripe immediate vicinity, while root
Adjust the pid parameter of internal SERVO CONTROL program in real time according to peripheral environment FPGA, system is easily realized segmentation P, PD, PID control
System and nonlinear PID controller；The air line distance that ARM and real-time recorder people have run, distance correction sensor S moment are examined
Geodetic face amendment mark, once reading correcting device, the positional distance information of ARM records will be with the positional information of amendment mark
It is defined, eliminates the caused site error of robot when walking；
6）If pipe robot is either run into magnetic stripe fracture, magnetic navigation in normal motion by external interference
Sensor ME1 can not read ground magnetic strip information, now left laser displacement sensor LSL and right laser displacement sensor LSR
Work will be opened, the distance input measured to ARM, is obtained off-centered position by the two compared with setting value, ARM by this
Deviation signal inputs to FPGA, and this straggling parameter is converted into pipe robot permanent-magnet synchronous in the case where specifying patrolled and examined track by FPGA
Motor X and permagnetic synchronous motor Y distance, speed and the acceleration to be run, current feedback, photoelectricity volumes of the FPGA in conjunction with motor
The feedback of code device feedback and three axis accelerometer, the PWM of two permanent magnet synchronous motors control is obtained through internal servo control algorithm
Ripple, and adjust pipe robot posture in real time by drive circuit, make pipe robot stable operation attached in pipeline planar central
Closely, while according to peripheral environment FPGA adjust the pid parameter of internal SERVO CONTROL program in real time, make system easily realize segmentation P,
PD, PID control and nonlinear PID controller；ARM records the air line distance that pipe robot has been run in real time, and distance correction passes
The sensor S moment detects ground amendment mark, once reading correcting device, ARM record positions range information will be indicated with correcting
Positional information be defined, eliminate pipe robot walking when site error；
7）In pipe robot motion process, the CCD moment in IMAQ opens, DSP real-time storages CCD collections
Image, DSP is compared the image of collection with the standard pipe information set, if larger mistake occurs in the two comparison result
Difference, in order to prevent maloperation, DSP sends interrupt requests immediately, and ARM makes an immediate response DSP interrupt, and is communicated with FPGA, passes through
FPGA allows pipe robot to stop, and DSP makes CCD secondary acquisitions duct size information and is compared to obtain with standard pipe information newest
As a result, continue to move ahead then along pipeline navigation marker；
8）In pipe robot motion process, the humidity sensor moment in humidity collection system is opened, and ARM is deposited in real time
The humidity information that storage humidity sensor collects, and be compared with the standard pipe humidity information of setting, if the two is compared
As a result there is larger error, in order to prevent maloperation, ARM and FPGA is communicated, and by SERVO CONTROL program inside FPGA actively
Two permanent magnet synchronous motors X and motor Y PWM wave control signals are adjusted, reducing the speed of pipe robot makes it pass through at a slow speed
The region having a question, adjust the pid parameter of internal SERVO CONTROL program in real time according to peripheral environment FPGA, system is easily realized
It is segmented P, PD, PID control and nonlinear PID controller；ARM sends interrupt requests to DSP immediately simultaneously, and DSP makes an immediate response in ARM
It is disconnected, and the comparison of aqueous water in CCD pipelines collection information is increased, DSP stores the doubtful image of steam and physical location in the region
Information；After by suspicious region, ARM and FPGA is communicated, and by SERVO CONTROL program active accommodation two inside FPGA forever
Magnetic-synchro motor X and motor Y PWM wave control signals, recovering the speed of pipe robot makes its normal inspection pipeline；
9）In pipe robot motion process, the front laser displacement sensor LSF moment opens, the real-time before processings of ARM
Square positional information, when there is anomalies in front of conduit running, front laser displacement sensor LSF probe values will appear from exception,
ARM and FPGA is communicated, and passes through the PWM of SERVO CONTROL program active accommodation two permanent magnet synchronous motors X and motor Y inside FPGA
Wave control signal, reducing the speed of pipe robot makes it drive towards barrier at a slow speed, according in the real-time adjustment of peripheral environment FPGA
The pid parameter of portion's SERVO CONTROL program, system is set easily to realize segmentation P, PD, PID control and nonlinear PID controller；ARM simultaneously
Immediately interrupt requests are sent to DSP, DSP makes an immediate response ARM interruptions, and increases the comparison of tamper in CCD pipelines collection information,
DSP stores the doubtful image of blocking and actual position information in the region, because the pipe robot of this secondary design is more wheel crawler belts
Formula structure, so ARM control pipelines robot can be moved ahead by clearing the jumps and can continue, after by suspicious region,
ARM and FPGA is communicated, and passes through the PWM of SERVO CONTROL program active accommodation two permanent magnet synchronous motors X and motor Y inside FPGA
Wave control signal, recovering the speed of pipe robot makes its normal inspection pipeline；
10）In pipe robot motion process, the pipeline inspection sensor based on Hall effect is by work, when pipeline is transported
There is exception in row front probe value, and ARM and FPGA is communicated, and passes through SERVO CONTROL program two permanent magnetism of active accommodation inside FPGA
Synchronous motor X and motor Y PWM wave control signals, reducing the speed of pipe robot, it is driven towards pipe damage at a slow speed doubtful
Region, adjust the pid parameter of internal SERVO CONTROL program in real time according to peripheral environment FPGA, make system easily realize segmentation P,
PD, PID control and nonlinear PID controller；ARM sends interrupt requests to DSP immediately simultaneously, and DSP makes an immediate response ARM interruptions, and
The comparison of pipe damage in CCD pipelines collection information is increased, if DSP has found that doubtful pipe damage image will store this image,
If DSP does not have found pipe damage image, suspicious lesion actual position information will be recorded, and mark outer damage.When by doubting
Behind region, ARM and FPGA are communicated, and by SERVO CONTROL program active accommodation two permanent magnet synchronous motors X inside FPGA and
Motor Y PWM wave control signals, recovering the speed of pipe robot makes its normal inspection pipeline；
11）In pipe robot motion process, ARM can store the location of passed through pipeline the moment and either pass through
The reference point crossed, FPGA this location parameter be converted into pipe robot specify patrolled and examined track under permagnetic synchronous motor X and
Distance, speed and the acceleration that permagnetic synchronous motor Y to be run, FPGA are anti-in conjunction with the current feedback of motor, photoelectric encoder
Feedback and the feedback of three axis accelerometer, the PWM ripples that two permanent magnet synchronous motors control is obtained through internal servo control algorithm control
Signal, pipe robot is quickly moved ahead according to setting speed, while internal servo control is adjusted according to peripheral environment FPGA in real time
The pid parameter of processing procedure sequence, system is set easily to realize segmentation P, PD, PID control and nonlinear PID controller；
12）In motion process if pipe robot detective distance solve occur endless loop will be sent to ARM interruption please
Ask, ARM can do very first time response to interruption, and ARM will forbid pipe robot, and ARM is according to pipeline in Information revision of adjusting the distance
Magnetic stripe navigation marker feeds back and left laser displacement sensor LSL and right laser displacement sensor LSR feedback, real-time by FPGA
Permanent-magnet synchronous X-motor and motor Y speed are adjusted, ensures that robot slowly rolls away from towards outlet, and abandon all collecting works；
13）Photoelectric encoder on permagnetic synchronous motor X and permagnetic synchronous motor Y can export its position signalling A and
Position signalling B, the position signalling A pulses of photoelectric encoder and B pulsed logics state often change once, the location register in ARM
Device can add 1 according to motor X and motor Y traffic direction or subtract 1；The position signalling A pulses and B pulses of photoelectric encoder and
When Z pulses are low level simultaneously, just produce an INDEX signal and give ARM internal registers, record the absolute of permagnetic synchronous motor
Position, it is then convert into particular location of the pipe robot in pipe detection system；
14）Pipe robot calculates supply unit SOC in real time in running ARM according to its internal algorithm, if control
When device finds that power supply energy is relatively low, ARM can communicate with FPGA, DSP, and be deposited by DSP closing ccd image collecting works and image
Work is stored up, and permagnetic synchronous motor X and permagnetic synchronous motor Y PWM outputs are adjusted by SERVO CONTROL program inside FPGA, is made
Pipe robot drives towards exit with slower speed, ensures that pipe robot can smoothly arrive exit；
15）During pipe robot inspection, if servo controller detects that the torque of permagnetic synchronous motor occurs
Pulsation, because permagnetic synchronous motor of the present invention uses vector controlled, therefore controller can be easy to compensate this interference, reduce electricity
Influence of the machine torque to crusing robot motion process；
16）During pipe robot drives towards outlet valve, when its front laser displacement sensor LSF carried understands
Carve and detect its displacement between valve, when it is determined that outlet valve F3 will open cruise mode in open mode, pipe robot,
Controller ARM records the distance that pipe robot has moved along magnetic stripe in real time, when it is determined that robot treats completely into outlet
After examining region, outlet valve F3 will be closed, and natural gas aspirator will aspirate the natural gas situation in region to be checked, when natural gas is let out
When dew device is not detected by region to be checked and has natural gas residual, outlet valve F4 will be opened, now laser displacement sensor LSF generals
The secondary state for judging front exit valve F4, after determining that front exit valve F4 openings are errorless, pipe robot rolls detection away from
Pipeline, detection terminal is returned to, wait next sense command.
The invention has the advantages that：
1：In pipe robot motion process, the effect of lithium ion battery in this system is taken into full account, has been based on
The nuclear control device moment of ARM+ FPGA+DSP tri- is all being monitored and computing to its state, has both avoided due to heavy-current discharge
Caused by lithium ion battery overaging phenomenon generation, can effectively predict the energy of battery again, be patrolled for pipe robot
Inspection, which provides, to be effectively ensured；
2：Two SERVO CONTROLs of the permagnetic synchronous motor based on vector controlled of pipe robot are handled by FPGA so that control
It is fairly simple, arithmetic speed is substantially increased, solves the problems, such as that the control algolithm occupancy ARM cycles of operation are longer, shortens out
The hair cycle is short, and program transportability ability is strong；
3：The present invention realizes full SMD components material substantially, realizes veneer control, not only saves control panel occupancy
Space, and be advantageous to the mitigation of pipe robot volume and weight；
4：The pipe robot navigation system of the present invention instead of in traditional robot system often using permagnetic synchronous motor
Stepper motor, direct current generator, DC brushless motor, because its small volume, efficiency are higher so that pipe robot volume
Can further it reduce, energy utilization rate greatly improves；
5：Because permagnetic synchronous motor uses vector controlled so that speed adjustable range is wider, and contrast of regulating speed is steady, even in
The pulsating torque of low-speed stage motor is also very small, is advantageous to the dynamic property of raising system；
6：Because this controller is using the mass data and algorithm of DSP processing figure collections and storage, two are handled by FPGA
The SERVO CONTROL of axle permagnetic synchronous motor, ARM is freed from hard work amount, effectively prevent " running for program
Fly ", antijamming capability greatly enhances；
7：In control, FPGA controller can adjust two axle permanent magnet synchronous electrics in good time according to robot periphery running situation
Pid parameter inside machine servo, segmentation P, PD, PID control and nonlinear PID controller are realized, run low speed in system satisfaction
Shi Sudu switching；
8：Equipped with humidity collection system on pipe robot, the humidity exceptions area in tunnel can be detected easily
Domain, it can effectively find the presence of pipeline water droplet；
9：Equipped with image capturing system on pipe robot, it can detect that pipeline internal pipeline corrosion etc. is different easily
Reason condition, and effectively store its image；
10：Image store function based on DSP facilitates staff to read inspection after causing pipe robot completion task
As a result, pipeline corrupted information and particular location easily can be read from storage result, then on-call maintenance；
11：Equipped with the fault localization acquisition system based on Hall effect on pipe robot, can detect easily
The abnormal conditions such as pipeline external corrosive pipeline and damage, are advantageous to pipeline of pinpointing the problems early；
12：Three axis accelerometer A1 addition can effectively detect the angle of inclination that pipe robot deviates pipeline plane, ARM
Moment this angle can be monitored and the PWM ripples output of permagnetic synchronous motor is accordingly adjusted by FPGA, effectively control pipe
The posture of pipeline robot；
13：The addition of magnetic navigation sensor and laser displacement sensor causes system navigation to have certain redundancy, pole
The big stability for improving pipe robot；
14：The addition of timing belt technology causes six wheels all to have power, while the addition of crawler belt effectively increases pipeline
The area that robot contacts in the duct, allow robot effectively by with obstruction object area, improving environment and fitting
Ying Xing.
To sum up tell, the axle caterpillar type high-speed natural gas line robot control system of three core two of the invention, using efficiency
Higher permagnetic synchronous motor instead of the motors such as stepper motor, direct current generator with power density, improve the utilization of the energy
Rate and reduction robot volume, in order to improve arithmetic speed, ensure the stability and reliability of automatic pipeline robot system, this
Invention introduces FPGA and DSP in the controller based on ARM, is formed based on the complete of ARM+ FPGA+DSP
New three nuclear control device, this controller take into full account effect of the battery in this system, two of workload maximum in control system
Axle Permanent magnet synchronous servo system gives FPGA completions, pipeline reading, position positioning and power information etc. and gives ARM processing, fully
The characteristics of ARM data processing speeds are relatively fast is played, and the function such as image data acquiring and storage gives DSP completions, so
ARM, FPGA and DSP division of labor are achieved that, while can also be communicated between three, carries out data exchange and tune in real time
With.
Embodiments of the invention are the foregoing is only, are not intended to limit the scope of the invention, it is every to utilize this hair
The equivalent structure or equivalent flow conversion that bright description is made, or directly or indirectly it is used in other related technology necks
Domain, it is included within the scope of the present invention.
Claims (2)
- A kind of 1. axle caterpillar type high-speed natural gas line robot control system of three core two, it is characterised in that including supply unit, Controller, permagnetic synchronous motor X, permagnetic synchronous motor Y, based on ccd image collecting unit, image storage unit, humidity collection Unit, based on Hall effect pipeline inspection collecting unit and pipe robot, described supply unit be provided separately electric current drive Move described controller, described controller uses three nuclear control devices, including ARM, FPGA and DSP, described ARM, FPGA and DSP carries out mutually communication connection, and described ARM and FPGA send the first control signal and the second control signal respectively, by described The first control signal and the second control signal control described permagnetic synchronous motor Y and permagnetic synchronous motor X signal respectively The motion of control pipeline robot again after synthesis, it is described based on ccd image collecting unit and image storage unit and DSP Communication connection, described humidity collection unit and based on Hall effect pipeline inspection collecting unit with ARM and FPGA communication connect Connect, the first described control signal and the second control signal are PWM wave control signals, and described ARM uses STM32F746； Described FPGA uses QUICKLOGIC；Described DSP uses TMS320F2812, and described pipe robot includes robot Housing, laser displacement sensor, magnetic navigation sensor, distance correction sensor, three axis accelerometer and timing belt, it is described Laser displacement sensor is separately mounted to the front end of robot housing, and described magnetic navigation sensor and distance correction sensor are equal It is arranged on robot housing and is separately positioned on robot housing positioned at the lower section of laser displacement sensor, described timing belt Left and right sides and be connected respectively with permagnetic synchronous motor X and permagnetic synchronous motor Y, described three axis accelerometer is arranged on On robot housing and between permagnetic synchronous motor X and permagnetic synchronous motor Y, before described laser displacement sensor includes Square laser displacement sensor, left laser displacement sensor and right laser displacement sensor, described front laser displacement sensor The centre position being arranged on immediately ahead of robot housing, described left laser displacement sensor and right laser displacement sensor difference The angularly disposed left and right ends immediately ahead of robot housing, described timing belt use the wheel drive mode of two axle six, are by one Root inner peripheral surface is provided with the closed ring crawler belt of equidistant tooth and corresponding belt wheel is formed, described high speed natural gas line machine Device people's control system be additionally provided with host computer procedure, based on ARM motion control programs, based on DSP IMAQs and based on suddenly You detect effect pipe damage, and described host computer procedure also includes pipeline reading, position positioning and power information, described base Also include based on the axle permagnetic synchronous motor SERVO CONTROLs of FPGA two, data storage and I/O controls, institute in ARM motion control programs State based on DSP IMAQs and based on the detection of Hall effect pipe damage respectively with based on ccd image collecting unit and being based on The communication connection of Hall effect pipeline inspection collecting unit, described high speed natural gas line robot control system also include photoelectricity Encoder, described photoelectric encoder are separately mounted on permagnetic synchronous motor X and permagnetic synchronous motor Y.
- 2. high speed natural gas line robot control system according to claim 1, it is characterised in that described power supply dress Put and use lithium ion battery.
Priority Applications (1)
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| CN106312997A (en) * | 2016-10-27 | 2017-01-11 | 桂林电子科技大学 | Laser radar type outdoor autonomously mobile robot provided with automatic stabilization device |
| CN107918445B (en) * | 2017-11-17 | 2021-05-07 | 哈尔滨工程大学 | Device and method for realizing data storage time synchronization of detection robot in pipeline |
| CN111273612A (en) * | 2018-12-04 | 2020-06-12 | 广州中国科学院先进技术研究所 | Mobile robot motion controller |
| CN110768606B (en) * | 2019-11-12 | 2022-04-01 | 佛山智能装备技术研究院 | Hardware modularization control drives integrative device |
| CN112228687B (en) * | 2020-10-16 | 2021-04-27 | 西南石油大学 | Intelligent plugging robot control system for oil and gas pipeline |
| CN113382069A (en) * | 2021-06-09 | 2021-09-10 | 浙江中控技术股份有限公司 | Data transmission method, device and equipment for oil and gas pipeline and storage medium |
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| CN104827469B (en) * | 2013-10-10 | 2016-10-19 | 精工爱普生株式会社 | Robot controller, robot system, robot and robot control method |
| CN105159325A (en) * | 2015-08-24 | 2015-12-16 | 铜陵学院 | STM32F407 and FPGA-based two-wheel high-speed fire-extinguishing robot servo controller |
| CN105169610A (en) * | 2015-08-24 | 2015-12-23 | 铜陵学院 | Dual-core servo control system based on two-wheeled high-speed fully automatic fire extinguishing robot |
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