CN105856235A - Wireless transmission two-core six-axis crawler type natural gas pipeline robot control system - Google Patents
Wireless transmission two-core six-axis crawler type natural gas pipeline robot control system Download PDFInfo
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- CN105856235A CN105856235A CN201610400330.9A CN201610400330A CN105856235A CN 105856235 A CN105856235 A CN 105856235A CN 201610400330 A CN201610400330 A CN 201610400330A CN 105856235 A CN105856235 A CN 105856235A
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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
- B25J13/00—Controls for manipulators
- B25J13/006—Controls for manipulators by means of a wireless system for controlling one or several manipulators
-
- 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 or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- 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 or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- 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
Abstract
The invention discloses a wireless transmission two-core six-axis crawler type natural gas pipeline robot control system. A controller is a two-core controller and comprises an ARM and a DSP, wherein the ARM and the DSP are in communication through a wireless device, a first control signal, a second control signal, a fifth control signal and a sixth control signal emitted by the ARM control signal synthesis of a permanent magnet synchronous motor Y, a permanent magnet synchronous motor X, a permanent magnet synchronous motor Z and a permanent magnet synchronous motor R and then control the movement of a pipeline robot, and a third control signal and a fourth control signal emitted by the DSP control signal synthesis of a direct-current motor A and a direct-current motor B and then are in communication with a CCD image acquisition unit. In this way, a brand new two-core control mode based on ARM+DSP is developed independently, the ARM is liberated from complicated work, and data communication and real-time signal storage are achieved.
Description
Technical field
The present invention relates to the field of large-scale pipeline robot, particularly relate to one and be wirelessly transferred dinuclear six axle crawler type natural gas line robot control system.
Background technology
The pumped (conveying) medium of natural gas line belongs to material inflammable, explosive, the impurity such as the hydrogen sulfide contained in medium, carbon dioxide, free water, dust, makes the pipeline laid be in inside and outside etching condition, and the most internal congestion situations that can produce occurs.Adding the factors 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, one gas pipeline of the former Soviet Union leaks, and when two row pass through in the railway line to running a train outside distance leakage point 1 kilometer, train friction produces spark and causes the natural-gas blast of leakage, causing people more than 600 dead, hundreds of hectares of forests are burnt；In August, 2000, the gas pipeline generation gas explosion of one the 720mm bore in the southeast, New Mexico, causing fights the most greatly at least causes 10 people dead, place beyond more than 30 kilometers can see that huge fireball rushes to sky, and after blast, ground leaves one length 25 m, the hollow place of deep 6m；The oil and gas pipeline of China the most repeatedly has an accident, and the accident such as pipeline generation explosion, leakage, stopping transportation not only causes huge property loss, and jeopardizes ecological environment.
Pipe robot is that one can be carried one or more sensors and operation machinery along pipe interior or outside walking automatically, or complete the electro-mechanical system of a series of pipeline operations under the control of operator under computer controlled automatic.The research of pipe robot starts from eighties of last century the forties, to the seventies due to microelectric technique, computer technology, the development and progress of automatic technology, external pipeline robot technique has obtained fast development the beginning of the nineties, have developed many experimental prototypes, and achieve substantial amounts of achievement in research.
Patrol and examine natural gas line with pipe robot, be possible not only to improve the efficiency of pipe detection, and for improving working conditions, reduce labor intensity, improve working performance, reduce operating cost, guarantee personal safety and suffer from highly important meaning.But domestic the most not using pipe robot to patrol and examine natural gas line, natural gas line blast happens occasionally, and causes huge economic loss and environmental pollution.
The natural gas tube pipeline robot of one superior performance must possess following components:
1) image capturing system: image capturing system is it appeared that produced problem in pipeline, it is possible to provides pipeline impaired and congestion situations for staff, provides reliable basis for changing pipeline or cleaning pipeline；
2) damage acquisition system: damage acquisition system can find the abnormal conditions that tubing outer wall occurs in time, it is to avoid pipeline and long-term breakage causes anti-pressure ability to weaken, ultimately result in natural gas and reveal in a large number and produce explosion accident generation；
3) humidity detection and obturator detect: if humidity is excessive, the pumped (conveying) medium of natural gas line is easily formed corrosive pipeline, and moieties can pile up generation congestion situations simultaneously；
4) motor: actuating motor is that the power of pipe robot implements parts, and it converts the energy of power supply in real time, performs the robot relevant walking motion in natural gas line according to the instruction of pipe robot microprocessor；
5) algorithm: algorithm is the soul of natural gas tube pipeline robot, owing to natural gas line is a pipeline closed, inner case is extremely complex, natural gas tube pipeline robot must use certain intelligent algorithm just a little can accurately arrive the most a bit in pipeline, form point-to-point patrolling and examining, and real-time storage gathers 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 the brain of natural gas tube pipeline robot；All of information in pipeline, is required for through microprocessor processes including the humidity in pipeline, congestion situations, pipe damage information and damage position information, motor status information, battery status information etc. and makes corresponding judgement；
7) radio transmitting device: in order to find in time and the problem of process, automatic Pipeline robot must use wireless device, the image acquisition that real-time Transmission is patrolled and examined and damage collection result, and problem place can be determined by master station's secondary.
The domestic research to pipe robot is the most at the early-stage, is all to use monokaryon controller, is in the laboratory prototype design phase, has a certain distance from large-scale use, mainly face problems with:
(1) controlled technique influence, all of pipe robot all uses monokaryon controller, and the computing capability of controller is more weak, and pipe robot cannot quickly process real time environment, and robot ambulation speed is relatively low, and inspection pipeline speed is relatively slow, and less stable；
(2) for using the energy entrained by motor-driven pipe robot all to use chargeable storage; these accumulator are all by forming high-voltage great-current energy resource system after simple series connection and parallel connection; the most unprotected circuit; life-span is shorter, often occurs the abnormal work even interfering with pipe robot during normal work；
(3) for using the pipe robot of motor or DC motor Driver, being affected by motor own efficiency, energy utilization rate is relatively low, causes robot displacement in pipeline shorter；
(4) for using the pipe robot of motor or DC motor Driver, being affected by power of motor density, owing to the motor volume used is the biggest, the volume ultimately resulting in robot is bigger, heavier-weight, has had a strong impact on the range of pipe robot；
(5) pipe robot kinestate oneself adjustment capability is poor, controlled mode affects, robot attitude parameter identification in pipeline is poor, robot None-identified oneself's plane and the angle of pipeline principal plane, cause, during robot ambulation, inclination occurs, overturn the most sometimes, cause mission failure；
(6) for there being the natural gas line of obstruction, common wheeled robot is less with contact area of ground, and obstacle climbing ability is more weak, the most even cannot clear the jumps, and finally cannot patrol and examine task；
(7) the most most of pipe robot, poor to the Context awareness in pipeline, is all that the collection image stored by analysis carrys out analysis conduit situation, and real-time condition distinguishes poor；
(8) for the type of drive only with two power wheels, the power adjustment capability of robot is poor, in order to meet the acceleration under complex state, the power making single driving motor is bigger, the space not only taken up is bigger, and sometimes cause the phenomenon of " low load with strong power " to occur when some relative requirements energy are relatively low, it is impossible to meet power demand requirement under system Biodiversity operating mode so that dynamic performance reduces；
(9) speed and the drift angle of robot is obtained by integration and quadratic integral, owing to integration repeatedly makes pipe robot position in closed conduit sometimes there will be certain mistake due to accelerometer.
The stator of permasyn morot and common electrically excited synchronous motor have identical stator structure, excitation pole and the Exciting Windings for Transverse Differential Protection of synchrodrive is simply instead of on rotor using Nd-Fe-B rare earth permanent magnetic material as magnetic pole, the structure making motor is relatively simple, and eliminate easy out of order collector ring and brush, achieve non-brushing, improve the reliability of motor running.Because being not required to exciting current, therefore can save the copper loss of Exciting Windings for Transverse Differential Protection, greatly improving the efficiency of motor；The use of rare earth permanent-magnetic material makes power of motor density higher, so the volume of motor be can be made smaller, and the occasion that applicable volume requirement is higher.Permasyn morot is in addition to having obvious energy-saving effect, also there is the characteristic that rotating speed is accurate, noise is low, rare earth permanent-magnet synchronization motor based on rotor field-oriented or based on vector control system be capable of high accuracy, high dynamic performance, large-scale speed governing or location control, these characteristics make rare earth permanent-magnet synchronization motor be particularly suitable for being used in the robot control system that pipe robot these requirements are more special.
Crawler-type mobile mechanism is the expansion of wheeled locomotion mechanism, and crawler belt itself plays a part to pave the way continuously to wheel.Relative to ratcheting mechanism, there is plurality of advantages in crawler-type mobile mechanism, such as: bearing area is big, and grounding pressure is little；Resistance to rolling is little, passes through better performances；Off-road mobility is good；Having grouser on crawler belt bearing-surface, be difficult to skid, traction adhesion property is good, is conducive to playing bigger pull strength；Displacement crawler-type mobile mechanism is by changing the mechanism form of the position of crawler belt or crawler belt to reach to adapt to the requirement of varying environment, and the angle of two crawler belts can regulate, to adapt to different operation calibers.
Summary of the invention
The technical problem that present invention mainly solves is to provide one and is wirelessly transferred dinuclear six axle crawler type natural gas line robot control system, the brand-new double-core control model of based on ARM+DSP of independent research, controller is with ARM as processor core, DSP realizes the Real-time Collection of image acquisition digital signal, storage, it is wirelessly transferred and CCD two axle DC servo alignment system controls, and moment and ARM communication, ARM is freed in the middle of complicated work, ARM realizes the real-time control of four axle three-phase permanent magnet synchronous motors, and respond DSP interrupt, realize data communication and storage live signal.
nullFor solving above-mentioned technical problem，The technical scheme that the present invention uses is: provides one and is wirelessly transferred dinuclear six axle crawler type natural gas line robot control system，Including battery、Controller、Permagnetic synchronous motor X、Permagnetic synchronous motor Y、Direct current generator A、Direct current generator B、Permagnetic synchronous motor Z、Permagnetic synchronous motor R、Based on ccd image collecting unit、Image storage unit、Humidity collection unit、Based on Hall effect pipeline inspection collecting unit、Wireless device and pipe robot，Described battery is provided separately the controller described in electric current driving，Described controller uses dual-core controller，Including ARM and DSP，Described ARM and DSP carries out communication connection by wireless device，Described is all connected with DSP communication based on ccd image collecting unit and image storage unit，Described humidity collection unit and being all connected with ARM communication based on Hall effect pipeline inspection collecting unit，Described ARM sends the first control signal respectively、Second control signal、5th control signal and the 6th control signal，By the first described control signal、Second control signal、5th control signal and the 6th control signal control described permagnetic synchronous motor Y respectively、Permagnetic synchronous motor X、The motion of pipe robot is controlled again after the signal syntheses of permagnetic synchronous motor Z and permagnetic synchronous motor R，Described DSP sends the 3rd control signal and the 4th control signal respectively，Described direct current generator A is controlled respectively by the 3rd described control signal and the 4th control signal、It is connected with based on ccd image collecting unit communication after the signal syntheses of direct current generator B.
In a preferred embodiment of the present invention, described battery uses lithium ion battery.
In a preferred embodiment of the present invention, described the first control signal, the second control signal all, the 5th control signal and the 6th control signal be PWM wave control signal.
In a preferred embodiment of the present invention, described ARM uses STM32F746；Described DSP uses TMS320F2812.
nullIn a preferred embodiment of the present invention，Described pipe robot includes robot housing、Laser displacement sensor、Magnetic navigation sensor、Left fork sensor、Right fork sensor、Three-axis gyroscope and Timing Belt，Described laser displacement sensor is separately mounted to the front end of robot housing，Described magnetic navigation sensor is arranged on robot housing and is positioned at the lower section of laser displacement sensor，Described left fork sensor and right fork sensor lay respectively at the two ends, left and right below magnetic navigation sensor，Described Timing Belt be separately positioned on robot housing limit, the left and right sides and respectively with permagnetic synchronous motor X、Permagnetic synchronous motor Y、Permagnetic synchronous motor Z and permagnetic synchronous motor R connects，Described three-axis gyroscope is arranged on robot housing and between permagnetic synchronous motor X and permagnetic synchronous motor Y，Described direct current generator A、Direct current generator B and wireless device are arranged on robot housing.
In a preferred embodiment of the present invention, described laser displacement sensor includes front laser displacement sensor, left laser displacement sensor and right laser displacement sensor, described front laser displacement sensor is arranged on the most angularly disposed two ends, left and right at robot housing dead ahead of the centre position of robot housing dead ahead, described left laser displacement sensor and right laser displacement sensor.
In a preferred embodiment of the present invention, described Timing Belt uses four axle eight wheel drive mode, an inner peripheral surface be 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 natural gas line robot control system is additionally provided with host computer procedure, main motion controls program, from motion control program, detect based on Hall effect pipe damage and be wirelessly transferred, described host computer procedure also includes that pipeline reads, location positioning and power information, described main motion controls program and also includes based on ARM tetra-axle permagnetic synchronous motor SERVO CONTROL, data storage and I/O control, described also includes based on DSP two axle direct current generator SERVO CONTROL with based on DSP image acquisition from motion control program, described based on the transmission of Hall effect pipe damage detection wireless and is connected with based on Hall effect pipeline inspection collecting unit and wireless device communication respectively.
In a preferred embodiment of the present invention, described natural gas line robot control system also includes that photoelectric encoder, described photoelectric encoder are separately mounted on permagnetic synchronous motor X, permagnetic synchronous motor Y, direct current generator A, direct current generator B, permagnetic synchronous motor Z and permagnetic synchronous motor R.
The invention has the beneficial effects as follows: the present invention is wirelessly transferred dinuclear six axle crawler type natural gas line robot control system, in order to the utilization rate improving the energy and the permagnetic synchronous motor reducing robot volume, native system efficiency and power density the highest instead of the motor such as motor, direct current generator；In order to improve system acceleration request, system adds two lower-powered permagnetic synchronous motors and plays power-assisted effect, increases system dynamic characteristic；In order to improve arithmetic speed, ensure stability and the reliability of automatic pipeline robot system, the present invention introduces digital signal processor DSP in controller based on ARM, form brand-new dual-core controller based on ARM+DSP, this controller takes into full account the battery effect in this system, four maximum for workload in control system central siphon pipeline robot navigation servosystem, battery cell monitoring, path is read and is given ARM process, give full play to the comparatively faster feature of ARM data processing speed, and image data acquiring, the functions such as storage and CCD DC servo alignment system control are given DSP and are completed, thus achieve the division of labor of ARM Yu DSP, therebetween can also carry out communication simultaneously, carry out data exchange in real time and call.
Accompanying drawing explanation
For the technical scheme being illustrated more clearly that in the embodiment of the present invention, in describing embodiment below, the required accompanying drawing used is briefly described, apparently, accompanying drawing in describing below is only some embodiments of the present invention, for those of ordinary skill in the art, on the premise of not paying creative work, it is also possible to obtain other accompanying drawing according to these accompanying drawings, wherein:
Fig. 1 is that the present invention is with the schematic diagram being wirelessly transferred dinuclear six axle crawler type natural gas line robot control system one preferred embodiment；
Fig. 2 is pipe robot two-dimensional structure schematic diagram；
Fig. 3 is the programme diagram of Fig. 1；
Fig. 4 is that pipe robot patrols and examines schematic diagram.
Detailed description of the invention
Technical scheme in the embodiment of the present invention will be clearly and completely described below, it is clear that described embodiment is only a part of embodiment of the present invention rather than whole embodiments.Based on the embodiment in the present invention, all other embodiments that those of ordinary skill in the art are obtained under not making creative work premise, broadly fall into the scope of protection of the invention.
As it is shown in figure 1, the embodiment of the present invention includes:
nullOne is wirelessly transferred dinuclear six axle crawler type natural gas line robot control system，Including battery、Controller、Permagnetic synchronous motor X、Permagnetic synchronous motor Y、Direct current generator A、Direct current generator B、Permagnetic synchronous motor Z、Permagnetic synchronous motor R、Based on ccd image collecting unit、Image storage unit、Humidity collection unit、Based on Hall effect pipeline inspection collecting unit、Wireless device and pipe robot，Described battery is provided separately the controller described in electric current driving，Described controller uses dual-core controller，Including ARM and DSP，Described ARM and DSP carries out communication connection by wireless device，Described is all connected with DSP communication based on ccd image collecting unit and image storage unit，Described humidity collection unit and being all connected with ARM communication based on Hall effect pipeline inspection collecting unit，Described ARM sends the first control signal respectively、Second control signal、5th control signal and the 6th control signal，By the first described control signal、Second control signal、5th control signal and the 6th control signal control described permagnetic synchronous motor Y respectively、Permagnetic synchronous motor X、The motion of pipe robot is controlled again after the signal syntheses of permagnetic synchronous motor Z and permagnetic synchronous motor R，Described DSP sends the 3rd control signal and the 4th control signal respectively，Described direct current generator A is controlled respectively by the 3rd described control signal and the 4th control signal、It is connected with based on ccd image collecting unit communication after the signal syntheses of direct current generator B.Wherein, described battery uses lithium ion battery；Described the first control signal, the second control signal, the 5th control signal and the 6th control signal are PWM wave control signal.
In above-mentioned, described ARM uses STM32F746；Described DSP uses TMS320F2812.
STMicroelectronics
The brand-new STM32F7 MCU series of products produced are first volume productions in the whole world and have 32 bit ARM
The microcontroller of Cortex-M7 processor.Cortex-M7 is up-to-date release and the highest processor core of usefulness in Cortex-M series of products, brand-new STM32F7 MCU be ST STM32 MCU series of products in the highest product of usefulness, combine Cortex-M7 core and high-order peripheral unit, can promote application program usefulness, newly-increased New function, extend battery life, guarantee safety and reducing as far as possible use outer member with cost-effective with space etc. unrivaled advantage.
STM32F7 series of products include STM32F745 and STM32F746, and these two products are all equipped with the Cortex-M7 core having floating-point operation unit and DSP extended function, the highest 216MHz of arithmetic speed.STM32F7
ARM Cortex-M7 usefulness is surmounted the advantage of core (such as Cortex-M4) in early days and applies to ultimate attainment by MCU series of products, and usefulness reaches nearly DSP twice, makes this MCU be highly suitable for the application of high-speed electric expreess locomotive control.
TMS320F2812 is 32 fixed-point dsps of novel high-performance of the C28x kernel compatible based on code, the instruction execution cycle of C28x kernel has reached 6.67ns, maximum running frequency can reach 150MHz, F2812 is integrated with many peripheral hardwares, provide the SOC(system on a chip) of the whole series, its On-Chip peripheral mainly includes 12,2 × 8 tunnel ADC (the fastest 80ns changes the time), 2 road SCI, 1 road SPI, 1 road McBSP, 1 road eCAN interface etc., and with two event manager modules (EVA, EVB).It addition, this device also has 3 32 independent bit CPU intervalometers, and up to 56 GPIO pin being independently programmable.F2812 uses unified addressing mode, and chip internal has the SARAM of 18K, and including MO, M1, L0, L1, H0 totally 5 memory blocks, each memory block keeps independent, can conduct interviews different RAM block in the uniform machinery cycle, thus reduce streamline time delay.And inside F2812, have the FLASH of 128K word, address space 3D8000h～3F7FFFh, it is adaptable to low-power consumption, high performance control system.In addition F2812 provides external memory storage expansion interface (XINTF), conveniently carries out system extension, and its addressing space can reach 1MB；These characteristics makes F2812 while possessing the data-handling capacity that digital signal processor is remarkable, there is again peripheral hardware and interface in the sheet being suitable to control, can be widely applied in the control of various high performance system, These characteristics makes TMS320F2812 be particularly suitable for the figure collection of crusing robot, image storage and positional information storage.
In order to accurate acquisition pipe interior damage information, this controller is that ccd image acquisition system adds based on DSP two-dimensional localization servosystem, this two-dimentional system includes direct current generator A and direct current generator B, after DSP compares discovery suspicious region by storage image, adjusted the height of ccd image acquisition system lifting by controlled in wireless direct current generator A by main website, then adjusted, by direct current generator B, the angle that ccd image acquisition system rotates, the center making CCD is directed at the center of doubtful object, then suspicious region is analyzed in real time by main website, find in time and process this region, image that this region of DSP real-time storage collects and positional information, patrol and examine pipeline interpretation of result for pipe robot and basis for estimation is provided.
nullIn order to accurately guide duct robot detects automatically，The present invention uses two set sensor navigation patterns, and (a set of magnetic navigation sensor navigates，A set of laser displacement sensor navigates)，The pipe robot two-dimensional structure of the present invention is as shown in Figure 2: described pipe robot includes robot housing K、Laser displacement sensor、Magnetic navigation sensor ME1、Left fork sensor ME2、Right fork sensor ME3、Three-axis gyroscope G1 and Timing Belt T，Described laser displacement sensor is separately mounted to the front end of robot housing K，Described magnetic navigation sensor ME1 is arranged on robot housing K and is positioned at the lower section of laser displacement sensor，Described left fork sensor ME2 and right fork sensor ME3 lays respectively at the two ends, left and right below magnetic navigation sensor ME1，Described Timing Belt T be separately positioned on robot housing K limit, the left and right sides and respectively with permagnetic synchronous motor X、Permagnetic synchronous motor Y、Permagnetic synchronous motor Z and permagnetic synchronous motor R connects，Described three-axis gyroscope G1 is arranged on robot housing K and between permagnetic synchronous motor X and permagnetic synchronous motor Y，Described direct current generator A、Direct current generator B and wireless device I is arranged on robot housing K.Wherein, described laser displacement sensor includes front laser displacement sensor LSF, left laser displacement sensor LSL and right laser displacement sensor LSR, described front laser displacement sensor LSF is arranged on the centre position of robot housing K dead ahead, the most angularly disposed two ends, left and right at robot housing K dead ahead of described left laser displacement sensor LSL and right laser displacement sensor LSR.
The magnetic navigation sensor ME1 moment detects the magnetic stripe in pipeline, and sensor is the first navigation criterion according to this, when magnetic stripe does not exists or the deviation distance that navigates is bigger, left laser displacement sensor LSL and right laser displacement sensor LSR acts on the distance judging direction of advance with left and right tube wall jointly, and providing navigation foundation as pipe robot linear motion, the differentiation that front laser displacement sensor LSF is pipe robot advance barrier provides according to and stops does criterion.Left fork Magnetic Sensor ME2 and right fork sensor ME3 detects fork, ground mark respectively, then the criterion turned left respectively as cross pipeline or turn right, and natural gas tube pipeline robot accurately can be compensated in this position, it is most important that this patrols and examines pipeline calculating position for pipe robot.
In order to improve the stability that natural gas tube pipeline robot navigates in closed conduit walking process, realize automatically adjusting and independent navigation ability of attitude, and reducing the error that accelerometer long term simulation brings, the present invention instead of accelerometer A1 with three-axis gyroscope G1 in natural gas line robot servo's hardware system.During pipe robot walking pipeline, the omnidistance three-axis gyroscope G1, three-axis gyroscope G1 of opening is used for measuring the angular velocity of three directions of advance of pipe robot, and controller obtains its angle of inclination according to the angular velocity recorded by integration.When the attitude of pipe robot changes and exceedes setting threshold values, at a new sampling period controller the most immediately to its position compensation, avoid pipe robot in the process of walking and translate into the generation of phenomenon because of tilting excessive, improve stability during its quick walking navigation；If three-axis gyroscope G1 is integrated, and it is transformed in navigational coordinate system, pipe robot can not rely on any external information in closed conduit just can obtain the information such as its speed, yaw angle and position in navigational coordinate system, produced navigation information seriality is good and noise is the lowest, greatly enhances the autonomous inertial navigation ability of pipe robot.When pipe robot reads cross pipeline entrance, robot to realize 90 or turn right 90 action, in this case, three-axis gyroscope can accurately calculate robot rotate angle, it is ensured that its turn accuracy.
Timing Belt T transmission is provided with the closed ring crawler belt of equidistant tooth by an inner peripheral surface and corresponding belt wheel is formed.During motion, band tooth is meshed with the teeth groove of belt wheel transmitting movement and power, is a kind of engaged transmission, thus has the various advantages of gear drive, Chain conveyer and Belt Drive.Timing Belt K transmission has gear ratio accurately, without slippage, can obtain constant speed ratio, can precision drive, stable drive, energy shock-absorbing, noise is little, transmission efficiency is high, it is not required to lubrication, pollution-free, it is particularly suitable for normally working under being not allow for the occasion that pollution is the most severe with working environment, the particularly suitable spinning transmission of compact conformation, therefore the present invention uses Timing Belt technology to form four axle eight wheel drive mode.
The present invention is to solve the problem that domestic pipeline robot exists, have developed a kind of wheel by the eight of four rare earth permanent-magnet synchronization motors drivings and be wirelessly transferred crawler type double-core natural gas tube pipeline robot, the bigger rare earth permanent-magnet synchronization motor of two power therein by Timing Belt respectively with left and right four-wheel mechanical linkages, when two lower-powered rare earth permanent-magnet synchronization motors additionally only have robot to accelerate, just the function of power adjustment is played in unlatching；The multiple of left and right sides take turns respectively by crawler belt mechanical linkages, and servosystem based on two axle direct current generators provide positioning function for ccd image acquisition system, and natural gas tube pipeline robot relies on its carry sensors to carry out patrolling and examining major gas pipeline.
The present invention, on the premise of absorbing external Dynamic matrix control thought, has independently invented brand-new double-core control model based on ARM+DSP.Controller principle figure such as Fig. 1 of this design: panel is with ARM as processor core, DSP realize image acquisition digital signal Real-time Collection, store, be wirelessly transferred and CCD two axle DC servo alignment system control, and moment and ARM communication, ARM is freed in the middle of complicated work, ARM realizes the real-time control of four axle three-phase permanent magnet synchronous motors, and respond DSP interrupt, it is achieved data communication and storage live signal.
As shown in Figure 3, described natural gas line robot control system is additionally provided with host computer procedure, main motion controls program, from motion control program, detect based on Hall effect pipe damage and be wirelessly transferred, described host computer procedure also includes that pipeline reads, location positioning and power information, described main motion controls program and also includes based on ARM tetra-axle permagnetic synchronous motor SERVO CONTROL, data storage and I/O control, described also includes based on DSP two axle direct current generator SERVO CONTROL with based on DSP image acquisition from motion control program, described based on the transmission of Hall effect pipe damage detection wireless and is connected with based on Hall effect pipeline inspection collecting unit and wireless device communication respectively.
For reaching above-mentioned purpose, the present invention takes techniques below scheme, in order to the utilization rate improving the energy and the permagnetic synchronous motor reducing robot volume, native system efficiency and power density the highest instead of the motor such as motor, direct current generator；In order to improve system acceleration request, system adds two lower-powered permagnetic synchronous motors and plays power-assisted effect, increases system dynamic characteristic；In order to improve arithmetic speed, ensure stability and the reliability of automatic pipeline robot system, the present invention introduces digital signal processor DSP in controller based on ARM, form brand-new dual-core controller based on ARM+DSP, this controller takes into full account the battery effect in this system, four maximum for workload in control system central siphon pipeline robot navigation servosystem, battery cell monitoring, path is read and is given ARM process, give full play to the comparatively faster feature of ARM data processing speed, and image data acquiring, the functions such as storage and CCD DC servo alignment system control are given DSP and are completed, thus achieve the division of labor of ARM Yu DSP, therebetween can also carry out communication simultaneously, carry out data exchange in real time and call.
As shown in Figure 4, for the ARM+DSP dual-core controller designed herein, under power-on state, pipe robot SOC battery (state-of-charge) is first judged by ARM, if battery power is relatively low, controller can send alarm signal；If battery power is higher, first inputed to ARM by wireless device patrolling and examining the information such as natural gas line length and radius, then pipe robot is placed to pipe detection mouth, robot is introduced into self-locking state, waits that inlet valve F1 opens, after front laser displacement sensor LSF determines that valve is opened, pipe robot enters buffer area to be checked, then inlet valve F1 closes, and inlet valve F2 opens, and pipe robot enters pipe detection region；nullThe image capturing system that pipe robot carries、Humidity collection system and pipe damage detection device、Control device of wireless is all opened，Pipe robot according to setting speed along patrolling and examining route fast inspection，ARM adjusts pipe robot permagnetic synchronous motor X according to navigation sensor parameter or wireless signal transmission secondary、Permagnetic synchronous motor Y、The PWM of permagnetic synchronous motor Z and permagnetic synchronous motor R exports control signal，The real-time servo realizing four permanent magnet synchronous motors controls，DSP makes CCD the most effectively gather duct size information and store by direct current generator A and direct current generator B two axle DC servo alignment system，If DSP has a question to patrolling and examining some position，Will by wireless to main website send image transmitting interrupt requests and with ARM communication，Being sent cutoff command by controlled in wireless ARM makes pipe robot stop，Main website realizes CCD secondary image collection and fault localization by wireless device，And by DSP real time record and storage；If pipe robot completes or turns right to patrol and examine subsidiary conduit when again returning to main pipeline, ARM will open assist motor Z and motor R, the PWM output of pipe robot permagnetic synchronous motor X, permagnetic synchronous motor Y, permagnetic synchronous motor Z and permagnetic synchronous motor R is adjusted according to navigation sensor parameter and rate request secondary, the real-time servo realizing four permanent magnet synchronous motors controls, in order to reduce energy resource consumption, before returning to main channel, DSP will close the information gathering of CCD.
With reference to Fig. 1, Fig. 2, Fig. 3 and Fig. 4, its concrete functional realiey is as follows:
1) after pipe robot power supply opening, battery SOC can be judged by ARM, if battery SOC is relatively low, ARM will forbid four permanent magnet synchronous motors work, permagnetic synchronous motor input PWM ripple is blocked, alarm sensor by work and sends alarm signal simultaneously, and ARM sends replacing power interruptions by wireless device to master station and asks；If battery SOC is normal, pipe robot enters treats duty, waits work order；
2) master station is transferred to ARM by wireless device right for weather duct length, radius and pipeline topography, the information of calling the roll of the contestants in athletic events last time, then wireless device guiding tube pipeline robot is to the starting end of pipe detection, for the walking in closed conduct of the precision navigation pipe robot, ARM first turns on pipe robot inertial navigation based on three-axis gyroscope pattern；
3) pipe robot ARM controller begins through magnetic navigation sensor ME1 and reads area navigation magnetic stripe, the value of feedback of magnetic navigation sensor ME1 is compared with actual set central value, ARM adjusts permagnetic synchronous motor X according to inclined extent by its internal three Close loop servo control Automatic Program, permagnetic synchronous motor Y, the PWM output of permagnetic synchronous motor Z and permagnetic synchronous motor R, pipe robot is made to fast forward through along navigation magnetic stripe, laser displacement sensor LSF in front is by work simultaneously, ARM detects distance D of pipe robot and front inlet valve F1 in real time, then automatic stopping in the range of stably stop, original place self-locking；
4) when front laser displacement sensor LSF detects that inlet valve F1 opens, pipe robot will open automatic cruise mode；The distance that real time record pipe robot is moved by controller ARM along magnetic stripe, after determining that pipe robot is completely into region to be checked, inlet valve F1 will be again switched off, after natural gas leakage device detects that inlet valve F1 completely closes, inlet valve F2 will open, now secondary is judged the state of front inlet valve F2 by front laser displacement sensor LSF, determine front valve open errorless after, pipe robot initially enters patrols and examines region and starts to detect the internal practical situation of natural gas line；
5), after pipe robot enters pipe detection region, wireless device will open ccd image acquisition system by DSP, and DSP starts two axle DC servo alignment systems simultaneously；ARM is according to the feedback of magnetic navigation sensor ME1, read the actual positional information of pipe robot and the numerical value of three-axis gyroscope G1, and compared with setting position, determine pipe robot off-center distance and the angle of inclination, ARM controller is fed back in conjunction with current of electric, photoelectric encoder feedback and the feedback of three-axis gyroscope G1, the PWM wave control signal of two permanent magnet synchronous motors is obtained according to its internal three Close loop servo control programs, and adjust pipe robot attitude in real time by drive circuit, make pipe robot stable operation at magnetic stripe immediate vicinity, if by the collection image of feedback, master station finds that pipe robot deviate from navigation track by a relatively large margin, by the attitude by control device of wireless preferential Calibration pipe robot；The air line distance that ARM real time record robot has run, the distance correction sensor S moment is detected ground and revises mark, once reading correcting device, the positional distance information of ARM record to be as the criterion to revise the positional information of mark, eliminates the pipe robot site error caused when walking；If pipe robot has been misread ground in the process of walking and revised mark, the positional information of pipe robot by radio transmitting device and ARM communication, and will be revised automatically by main website；
6) if pipe robot in normal motion by external interference or run into magnetic stripe and rupture, magnetic navigation sensor ME1 cannot read ground magnetic strip information, now ARM controller will be by control device of wireless and master station's communication, left laser displacement sensor LSL and right laser displacement sensor LSR opens work, the two by the distance input that records to ARM controller, controller obtains off-centered position compared with setting value, ARM feeds back in conjunction with current of electric, photoelectric encoder feedback and the feedback of three-axis gyroscope G1, the PWM wave control signal of two permanent magnet synchronous motors is obtained according to its internal three Close loop servo control programs, and adjust pipe robot attitude in real time by drive circuit, make pipe robot stable operation at magnetic stripe immediate vicinity.The air line distance that ARM real time record robot have run, the distance correction sensor S moment is detected ground and revises mark, once read correcting device, ARM record position range information to be as the criterion to revise the positional information of mark, if pipe robot has been misread ground in the process of walking and has been revised mark, the positional information of pipe robot by radio transmitting device and ARM communication, and will be revised automatically by main website, eliminate site error during pipe robot walking；
7) in pipe robot motor process, the CCD moment in image acquisition opens, the image that DSP real-time storage CCD gathers, DSP compares the standard pipe information of the image gathered with setting, if bigger error occurs in the two comparison result, in order to prevent maloperation, DSP sends interrupt requests by wireless device to main website immediately, and with ARM communication, ARM makes an immediate response DSP interrupt, and allows pipe robot stop；DSP adjusts the CCD position, output location of direct current generator A and direct current generator B by internal three closed-loop direct SERVO CONTROL programs, make ccd image gather center and be directed at doubtful picture centre, CCD secondary acquisition duct size information also passes through radio transmitting device real-time Transmission, main website analyzes this suspicious region in real time, DSP stores this image bis-times, doubtful be disposed after controlled in wireless reopen pipe robot so that it is continue to move ahead along pipeline navigation marker；
null8) in pipe robot motor process，The humidity sensor moment in humidity collection system opens，The humidity information that ARM real-time storage humidity sensor collects，And compare with the standard pipe humidity information set，If there is bigger error in the two comparison result，ARM sends interrupt requests by wireless device to main website immediately，And with DSP communication，DSP make an immediate response ARM interrupt，The output adjusting direct current generator A and direct current generator B by internal three closed-loop direct SERVO CONTROL programs makes it position CCD position，Make ccd image gather center and be directed at doubtful water images center，CCD secondary acquisition duct size information also passes through radio transmitting device real-time Transmission，Main website analyzes this suspicious region in real time，Confirm errorless after，DSP stores this image and positional information bis-times，Then ARM is restarted by wireless device in main website，Control pipe robot to continue to move ahead，After by suspicious region，ARM is by the PWM ripple of internal three Close loop servo control program active accommodation two permanent magnet synchronous motors X and permagnetic synchronous motor Y，The speed recovering pipe robot makes it normally patrol and examine pipeline；
null9) in pipe robot motor process，The front laser displacement sensor LSF moment opens，ARM processes anterior position information in real time，When having anomalies in conduit running front，Front laser displacement sensor LSF probe value will appear from exception，ARM first passes through the PWM wave control signal of internal three Close loop servo control program active accommodation two permanent magnet synchronous motors X and motor Y，The speed reducing pipe robot makes it drive towards at a slow speed doubtful pipeline obstruction region，ARM sends interrupt requests to master station and DSP immediately simultaneously，DSP make an immediate response ARM interrupt，And make it position CCD position by the output of internal three closed-loop direct SERVO CONTROL programs adjustment direct current generator A and direct current generator B，Make ccd image gather center and be directed at doubtful obturator picture centre，CCD secondary acquisition duct size information also passes through radio transmitting device real-time Transmission，Main website analyzes this suspicious region in real time，When determining that front is small-sized obturator，Owing to this pipe robot designed is many wheel crawlers structure，So ARM controls pipe robot and can clear the jumps and can continue to move ahead；When obturator volume is bigger, the output that total standing-meeting adjusts two axle permagnetic synchronous motors by wireless device makes it get around barrier；After by suspicious region, master station's PWM wave control signal by radio transmitting device active accommodation two permanent magnet synchronous motors X and permagnetic synchronous motor Y, the speed recovering pipe robot makes it normally patrol and examine pipeline；
null10) in pipe robot motor process，Pipeline inspection sensor based on Hall effect is by work，When conduit running front probe value occurs abnormal，ARM first passes through the PWM wave control signal of internal three Close loop servo control program active accommodation two permanent magnet synchronous motors X and motor Y，The speed reducing pipe robot makes it drive towards at a slow speed pipe damage suspicious region，ARM sends interrupt requests to master station and DSP immediately simultaneously，DSP make an immediate response ARM interrupt，And the CCD position, output location of direct current generator A and direct current generator B is adjusted by internal three closed-loop direct SERVO CONTROL programs，Ccd image is made to gather alignment suspicious lesion pipeline position, center，CCD secondary acquisition duct size information also passes through radio transmitting device real-time Transmission，Main website analyzes this suspicious region in real time，If DSP image acquisition image does not finds pipe damage，DSP will record suspicious lesion actual position information，And it is labeled as outer damage，After by suspicious region，Master station's PWM ripple by radio transmitting device active accommodation two permanent magnet synchronous motors X and permagnetic synchronous motor Y，The speed recovering pipe robot makes it normally patrol and examine pipeline；
11) in pipe robot motor process, ARM can store in the moment the pipeline location of process or the reference point of process, and it is calculated relatively next distance to be run for reference point pipe robot permagnetic synchronous motor X and permagnetic synchronous motor Y according to these range informations by ARM, speed and acceleration, ARM feeds back in conjunction with current of electric, photoelectric encoder feedback and the feedback of ground magnetic stripe, the PWM wave control signal of two permanent magnet synchronous motors is obtained according to its internal three Close loop servo control programs, pipe robot is made quickly to move ahead according to setting speed；
12) if pipe robot detective distance solves and occurs that endless loop will send interrupt requests to ARM in motor process, then ARM can send interrupt requests to master station to interrupting doing very first time response original place self-locking；Master station is resetted ARM again by wireless device, transmit the information such as new position, ARM is according to pipeline magnetic bar navigation mark feedback and left laser displacement sensor LSL and the feedback of right laser displacement sensor LSR, adjusting permanent-magnet synchronous X-motor and the speed of permagnetic synchronous motor Y in real time, pipe robot starts to patrol and examine from new position；
13) after pipe robot enters detection region, if robot is during main pipeline is patrolled and examined, left fork sensor ME2 reads ground turning mark, and first ARM according to ground installation correction robot positional information in the duct, eliminates pipe robot walking error；ARM is according to system speed and acceleration requirement, then in conjunction with current of electric, photoelectric encoder and the feedback of three-axis gyroscope G1, adjust pipe robot permagnetic synchronous motor X and the pwm control signal of permagnetic synchronous motor Y in real time, pipe robot is made to stop in distance R, then ARM combines the feedback of three-axis gyroscope G1 and makes pipe robot rotate in place left 90 degree, cruises in the left turnout of pipe robot entrance；In the detection process of left turnout, the front laser displacement sensor LSF moment opens and detects doubtful tamper and detects the distance with front terminal；ARM is according to the feedback real time record forward travel distance of front laser displacement sensor LSF, and effective range Nei Shi robot effectively stops before the terminal of distance turnout, and pipe robot rotates in place 180 degree under three-axis gyroscope G1 controls and prepares to return to main channel；Owing to left turnout has been patrolled and examined complete, in order to make pipe robot return quickly in main pipeline, ARM opens power-assisted permagnetic synchronous motor Z and permagnetic synchronous motor R, makes system enter and accelerates return state；In whole return course, ARM is according to system speed and acceleration requirement, then in conjunction with current of electric, photoelectric encoder and the feedback of three-axis gyroscope G1, adjust pipe robot permagnetic synchronous motor X, permagnetic synchronous motor Y, permagnetic synchronous motor Z and the pwm control signal of permagnetic synchronous motor R in real time, make pipe robot can speed up and return to main pipeline along landing ground magnetic stripe, in order to save the energy, at return trip, main website will close ccd image acquisition system by DSP until arriving main channel；
14) after pipe robot enters detection region, if pipe robot is during main pipeline is patrolled and examined, right fork sensor ME3 reads ground turning mark, and ARM, first according to ground installation correction pipe robot positional information in the duct, eliminates pipe robot walking error；ARM is according to system speed and acceleration requirement, then in conjunction with current of electric, photoelectric encoder and the feedback of three-axis gyroscope G1, adjust robot permagnetic synchronous motor X and the pwm control signal of permagnetic synchronous motor Y in real time, pipe robot is made to stop in distance R, ARM combines the feedback of three-axis gyroscope G1 makes robot rotate in place right 90 degree, and pipe robot enters right turnout and cruises；In the detection process of right turnout, the front laser displacement sensor LSF moment opens and detects doubtful tamper and detects the distance with front terminal；ARM is according to the feedback real time record forward travel distance of front laser displacement sensor LSF, and makes pipe robot effectively stop in effective range before the terminal of distance turnout, and pipe robot rotates in place 180 degree under three-axis gyroscope G1 controls and prepares to return to main channel；Owing to right turnout has been patrolled and examined complete, in order to make pipe robot return quickly in main pipeline, ARM opens power-assisted permagnetic synchronous motor Z and permagnetic synchronous motor R, makes system enter and accelerates return state；In whole return course, ARM is according to system speed and acceleration requirement, in conjunction with current of electric, photoelectric encoder and the feedback of three-axis gyroscope G1, adjust pipe robot permagnetic synchronous motor X, permagnetic synchronous motor Y, permagnetic synchronous motor Z and the pwm control signal of permagnetic synchronous motor R in real time, make pipe robot can speed up and return to main pipeline along landing ground magnetic stripe, in order to save the energy, at return trip, main website will close ccd image acquisition system by DSP until arriving main channel；
15) photoelectric encoder being contained on permagnetic synchronous motor X, permagnetic synchronous motor Y, permagnetic synchronous motor Z, permagnetic synchronous motor R, direct current generator A and direct current generator B can export its position signalling A and position signalling B, position signalling A pulse and the B pulsed logic state of photoelectric encoder often change once, ARM(or DSP) in location register can add 1 according to the traffic direction of motor or subtract 1；When the position signalling A pulse of photoelectric encoder and B pulse and Z pulse are low level simultaneously, just produce an INDEX signal to ARM(or DSP) internal register, the absolute position of record permagnetic synchronous motor, is then convert into pipe robot particular location in pipe detection system；
16) pipe robot calculates battery SOC at running ARM in real time according to its internal algorithm, if controller finds when power supply energy is relatively low, ARM can be with DSP communication, and close ccd image collecting work and image storage work by DSP, and the PWM output of permagnetic synchronous motor X and permagnetic synchronous motor Y is adjusted by its internal three closed loop servo-control system programs, pipe robot drives towards exit with slower speed under controlled in wireless, it is ensured that pipe robot can arrive exit smoothly；
17) during pipe robot is patrolled and examined, if there is pulsation in the torque that servo controller detects permagnetic synchronous motor, the permagnetic synchronous motor used due to the present invention controls to be based on vector controlled, therefore controller can be easy to compensate this interference, decreases the motor torque impact on crusing robot motor process；
null18) during pipe robot drives towards outlet valve，The front laser displacement sensor LSF that it carries can detect the displacement between itself and valve in the moment，When determining that outlet valve F3 is in open mode，Pipe robot will open cruise mode，The distance that controller ARM real time record pipe robot has moved along magnetic stripe，After determining that pipe robot is completely into exporting region to be checked，Outlet valve F3 will close，Natural gas aspirator will aspirate the natural gas situation in region to be checked，When natural gas leakage device be not detected by region to be checked have natural gas to remain time，Outlet valve F4 will open，Now secondary is judged the state of front exit valve F4 by front laser displacement sensor LSF，Determine front exit valve F4 open errorless after，Pipe robot rolls detection pipeline away from，Return to detect terminal，Wait next sense command.
The invention have the advantages that:
1: in pipeline crusing robot motor process, take into full account battery effect in this system, all its state is being monitored and computing based on the ARM+DSP dual-core controller moment, both the generation of the lithium ion battery overaging phenomenon caused due to heavy-current discharge had been avoided, can effectively predict again the energy of battery, patrol and examine to provide for pipe robot and be effectively ensured；
2: processed pipeline crusing robot four permagnetic synchronous motors SERVO CONTROL based on vector controlled by ARM and power adjusts, the control of the two axle DC servo alignment systems of CCD is realized by DSP, the two had both achieved the division of labor, it is reduced the workload of ARM, make to control fairly simple, substantially increase arithmetic speed, solve scm software and run slower bottleneck, shorten the construction cycle short, and program transportability ability is strong；
3: the present invention realizes full SMD components material substantially, it is achieved that veneer controls, and not only saves panel and takes up room, and beneficially the alleviating of pipeline crusing robot volume and weight；
4: inventive pipeline crusing robot navigation system uses permagnetic synchronous motor to instead of in conventional machines people's system conventional motor, direct current generator, DC brushless motor, due to its small volume, efficiency is higher, pipe robot volume can be reduced further, and energy utilization rate is greatly improved；
5: owing to using permagnetic synchronous motor based on vector controlled so that speed adjustable range is relatively wide, contrast of regulating speed is steady, even if the pulsating torque at low-speed stage motor is the least, the dynamic property of beneficially raising system；
6: owing to this controller uses DSP to process figure collection, storage, the mass data of two axle DC servo alignment systems and algorithm, ARM being freed from hard work amount, effectively prevent " race flies " of program, capacity of resisting disturbance is greatly enhanced；
7: in the controlling, ARM controller can adjust the four servo-controlled pid parameters of axle permagnetic synchronous motor according to robot periphery ruuning situation in good time, it is achieved segmentation P, PD, PID control and nonlinear PID controller, make dynamic performance be greatly improved；
8: equipped with humidity collection system on pipeline crusing robot, the humidity abnormal area in tunnel can be detected easily, can effectively find the existence of pipeline water droplet, wireless transmitting system can be effectively improved the detection efficiency of system humidity；
9: equipped with image capturing system on pipeline crusing robot, the abnormal conditions such as pipe interior corrosive pipeline can be detected easily, and effectively store its image, wireless transmitting system can improve the efficiency of image capturing system；
10: master station staff can be made accurately to judge suspicious region based on wireless image transmission, wireless remote control technology can well solve the emergency situations that pipe robot occurs simultaneously, such as solves deadlock, restarts pipe robot etc.；
11: image based on DSP storage function makes pipeline crusing robot facilitate staff to read after completing task to patrol and examine as a result, it is possible to read pipeline corrupted information and particular location, then on-call maintenance from storage result easily；
12: equipped with fault localization acquisition system based on Hall effect on pipeline crusing robot, can detect the abnormal conditions such as pipeline external corrosive pipeline and damage easily, be conducive to pinpointing the problems early pipeline；
13: the addition of three-axis gyroscope can effectively detect the angle of inclination of pipe robot deviation pipeline plane, this angle can be adjusted and pass through wireless device transmissions to master station by ARM controller in the moment, effectively controls the attitude of pipe robot；
14: the addition of magnetic navigation sensor and laser displacement sensor makes system navigation have certain redundancy, greatly improves the stability of pipeline crusing robot；
15: the addition of Timing Belt technology makes multiple wheel all have power, and the addition of crawler belt simultaneously effectively increases the area that pipe robot contacts in the duct, make robot can improve environmental suitability effectively by having obstruction object area；
16: two axle ccd images based on direct current generator A and direct current generator B gather alignment system can make image acquisition more reliable, carries out pipe damage for main website and obstruction information is analyzed in real time and provided reliable basis；
17: turning navigation marker in ground coordinates left and right sides laser displacement sensor to make system can easily read duct size information, the beneficially pipe robot location in complicated pipeline and the elimination of site error；
18: angle when pipe robot is turned can be effectively measured in the addition of three-axis gyroscope, improve reliable basis for robot turning navigation in complicated pipeline；
The addition of 19: two power-assisted permagnetic synchronous motors makes the power performance adjustment of system have optional so that robot can meet the power demand under different operating mode so that the adaptation ability of robot is strengthened；
20: speed and the direction skew that pipe robot occurs at line navigation can be effectively measured in the addition of three-axis gyroscope, improves reliable basis for robot inertial navigation in complicated pipeline.
To sum up tell, the present invention is wirelessly transferred dinuclear six axle crawler type natural gas line robot control system, in order to the utilization rate improving the energy and the permagnetic synchronous motor reducing robot volume, native system efficiency and power density the highest instead of the motor such as motor, direct current generator；In order to improve system acceleration request, system adds two lower-powered permagnetic synchronous motors and plays power-assisted effect, increases system dynamic characteristic；In order to improve arithmetic speed, ensure stability and the reliability of automatic pipeline robot system, the present invention introduces digital signal processor DSP in controller based on ARM, form brand-new dual-core controller based on ARM+DSP, this controller takes into full account the battery effect in this system, four maximum for workload in control system central siphon pipeline robot navigation servosystem, battery cell monitoring, path is read and is given ARM process, give full play to the comparatively faster feature of ARM data processing speed, and image data acquiring, the functions such as storage and CCD DC servo alignment system control are given DSP and are completed, thus achieve the division of labor of ARM Yu DSP, therebetween can also carry out communication simultaneously, carry out data exchange in real time and call.
The foregoing is only embodiments of the invention; not thereby the scope of the claims of the present invention is limited; every equivalent structure utilizing description of the invention content to be made or equivalence flow process conversion; or directly or indirectly it is used in other relevant technical field, the most in like manner it is included in the scope of patent protection of the present invention.
Claims (9)
- null1. one kind is wirelessly transferred dinuclear six axle crawler type natural gas line robot control system，It is characterized in that，Including battery、Controller、Permagnetic synchronous motor X、Permagnetic synchronous motor Y、Direct current generator A、Direct current generator B、Permagnetic synchronous motor Z、Permagnetic synchronous motor R、Based on ccd image collecting unit、Image storage unit、Humidity collection unit、Based on Hall effect pipeline inspection collecting unit、Wireless device and pipe robot，Described battery is provided separately the controller described in electric current driving，Described controller uses dual-core controller，Including ARM and DSP，Described ARM and DSP carries out communication connection by wireless device，Described is all connected with DSP communication based on ccd image collecting unit and image storage unit，Described humidity collection unit and being all connected with ARM communication based on Hall effect pipeline inspection collecting unit，Described ARM sends the first control signal respectively、Second control signal、5th control signal and the 6th control signal，By the first described control signal、Second control signal、5th control signal and the 6th control signal control described permagnetic synchronous motor Y respectively、Permagnetic synchronous motor X、The motion of pipe robot is controlled again after the signal syntheses of permagnetic synchronous motor Z and permagnetic synchronous motor R，Described DSP sends the 3rd control signal and the 4th control signal respectively，Described direct current generator A is controlled respectively by the 3rd described control signal and the 4th control signal、It is connected with based on ccd image collecting unit communication after the signal syntheses of direct current generator B.
- Natural gas line robot control system the most according to claim 1, it is characterised in that described battery uses lithium ion battery.
- Natural gas line robot control system the most according to claim 1, it is characterised in that described the first control signal, the second control signal all, the 5th control signal and the 6th control signal be PWM wave control signal.
- Natural gas line robot control system the most according to claim 1, it is characterised in that described ARM uses STM32F746；Described DSP uses TMS320F2812.
- nullNatural gas line robot control system the most according to claim 1，It is characterized in that，Described pipe robot includes robot housing、Laser displacement sensor、Magnetic navigation sensor、Left fork sensor、Right fork sensor、Three-axis gyroscope and Timing Belt，Described laser displacement sensor is separately mounted to the front end of robot housing，Described magnetic navigation sensor is arranged on robot housing and is positioned at the lower section of laser displacement sensor，Described left fork sensor and right fork sensor lay respectively at the two ends, left and right below magnetic navigation sensor，Described Timing Belt be separately positioned on robot housing limit, the left and right sides and respectively with permagnetic synchronous motor X、Permagnetic synchronous motor Y、Permagnetic synchronous motor Z and permagnetic synchronous motor R connects，Described three-axis gyroscope is arranged on robot housing and between permagnetic synchronous motor X and permagnetic synchronous motor Y，Described direct current generator A、Direct current generator B and wireless device are arranged on robot housing.
- Natural gas line robot control system the most according to claim 5, it is characterized in that, described laser displacement sensor includes front laser displacement sensor, left laser displacement sensor and right laser displacement sensor, described front laser displacement sensor is arranged on the most angularly disposed two ends, left and right at robot housing dead ahead of the centre position of robot housing dead ahead, described left laser displacement sensor and right laser displacement sensor.
- Natural gas line robot control system the most according to claim 5, it is characterised in that described Timing Belt uses four axle eight wheel drive mode, is provided with the closed ring crawler belt of equidistant tooth by an inner peripheral surface and corresponding belt wheel is formed.
- Natural gas line robot control system the most according to claim 1, it is characterized in that, described natural gas line robot control system is additionally provided with host computer procedure, main motion controls program, from motion control program, detect based on Hall effect pipe damage and be wirelessly transferred, described host computer procedure also includes that pipeline reads, location positioning and power information, described main motion controls program and also includes based on ARM tetra-axle permagnetic synchronous motor SERVO CONTROL, data storage and I/O control, described also includes based on DSP two axle direct current generator SERVO CONTROL with based on DSP image acquisition from motion control program, described based on the transmission of Hall effect pipe damage detection wireless and is connected with based on Hall effect pipeline inspection collecting unit and wireless device communication respectively.
- Natural gas line robot control system the most according to claim 1, it is characterized in that, described natural gas line robot control system also includes that photoelectric encoder, described photoelectric encoder are separately mounted on permagnetic synchronous motor X, permagnetic synchronous motor Y, direct current generator A, direct current generator B, permagnetic synchronous motor Z and permagnetic synchronous motor R.
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