CN105856235B - A kind of wireless transmission six axis crawler type natural gas line robot control system of dinuclear - Google Patents
A kind of wireless transmission six axis crawler type natural gas line robot control system of dinuclear Download PDFInfo
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- CN105856235B CN105856235B CN201610400330.9A CN201610400330A CN105856235B CN 105856235 B CN105856235 B CN 105856235B CN 201610400330 A CN201610400330 A CN 201610400330A CN 105856235 B CN105856235 B CN 105856235B
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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
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- 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
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- 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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Abstract
A kind of wireless transmission six axis crawler type natural gas line robot control system of dinuclear, the controller uses dual-core controller, including ARM and DSP, the ARM carries out communication by wireless device with DSP and connects, the first control signal sent out by the ARM, second control signal, 5th control signal and the 6th control signal control the permanent magnet synchronous motor Y respectively, permanent magnet synchronous motor X, the movement of control pipeline robot again after the synthesis of the signal of permanent magnet synchronous motor Z and permanent magnet synchronous motor R, the third control signal and the 4th control signal sent out by the DSP controls the direct current generator A respectively, it is connected after the signal synthesis of direct current generator B with being communicated based on ccd image collecting unit.By the above-mentioned means, completely new double-core control model of the independent research of the present invention based on ARM+DSP, frees ARM in complicated work, 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 wireless transmission six axis crawler type of dinuclear are natural
Feed channel robot control system.
Background technology
The pumped (conveying) medium of natural gas line belongs to inflammable, explosive substance, the hydrogen sulfide contained in medium, carbon dioxide, trip
From impurity such as water, dust, the pipeline of laying is made to be in inside and outside etching condition or even internal sometimes can generate congestion situations hair
It is raw.Along with the factors such as environment, geology, meteorology and hydrological disaster, tubing and design defect, operation 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 generate spark cause leakage natural-gas explosion, cause people more than 600 dead
It dies, hundreds of hectares of forests are burnt；In August, 2000, the gas pipeline of the 720mm bores of the New Mexico southeast one occur
Gas explosion causes incessanly to fight greatly and at least causes 10 people dead, and the place other than more than 30 kilometers can be seen huge
Type fireball rushes to sky, and ground leaves the hollow place of one of 25 m of length, depth 6m after explosion；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, but also jeopardize ecology
Environment.
Pipe robot is that one kind can carry one or more sensings along automatically walk either external inside pipeline
Device and operation machinery complete a series of electromechanics of pipeline operations 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
The development and progress of calculation machine technology, automatic technology, external pipeline robot technique are grown rapidly the beginning of the nineties, are ground
Many experimental prototypes have been made, and have achieved a large amount of achievement in research.
With pipe robot inspection natural gas line, the efficiency of pipe detection can be not only improved, but also 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 not yet using pipe robot inspection natural gas line, natural gas line explosion happens occasionally, causes huge
Big economic loss and environmental pollution.
The superior natural gas tube pipeline robot of one performance must have following components：
1）Image capturing system：Image capturing system can be found that in pipeline the problem, and can be work
Personnel's offer pipeline is damaged and congestion situations, and reliable basis is provided to replace 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, eventually lead to natural gas largely leakage and generate 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 generate congestion situations；
4）Motor：Actuating motor is that the power of pipe robot implements component, it converts the energy of power supply in real time, according to pipe
The instruction of pipeline robot microprocessor performs related walking motion of the robot in natural gas line；
5）Algorithm：Algorithm is the soul of natural gas tube pipeline robot, interior since 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, forming point-to-point inspection, and real-time storage acquisition 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 in pipeline humidity, congestion situations, pipe damage information and damage position information,
Motor status information, battery status information etc. are required for by microprocessor processes and make corresponding judgement；
7）Radio transmitting device：In order to find in time and process problem, automatic Pipeline robot must use nothing
Line apparatus, the Image Acquisition of real-time Transmission inspection and damage collection result, and can be by where the secondary determining problem of master station.
The country is only at the early-stage to the research of pipe robot, is using monokaryon controller, is in laboratory sample
The machine design phase has a certain distance from large-scale use, mainly faces problems with：
（1）By control technique influence, all pipe robots using 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, and steady
It is qualitative poor；
（2）For using the energy entrained by motor-driven pipe robot, using chargeable storage, these are stored
Battery is by formation high-voltage great-current energy resource system after simply connecting and being in parallel, and without protection circuit, the service life is shorter,
Often occurs the abnormal work for even interfering with pipe robot during normal work；
（3）For using the stepper motor either pipe robot of direct current generator driving, by motor own efficiency
Influence, energy utilization rate is relatively low, causes robot displacement distance in pipeline shorter；
（4）For using the stepper motor either pipe robot of direct current generator driving, by power of motor density
Influence, since used motor volume is larger, the volume for eventually leading to robot is larger, and heavier-weight seriously affects
The use scope of pipe robot；
（5）Self adjustment capability of pipe robot motion state is poor, is influenced by control mode, and robot is in pipeline
Attitude parameter identification is poor, self plane of robot None- identified and the angle of pipeline principal plane cause to go out during robot ambulation
It now tilts or even overturns sometimes, lead to mission failure；
（6）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, it finally can not inspection completion task；
（7）Major part pipe robot at present, it is poor to the Context awareness in pipeline, it is the acquisition by analyzing storage
Image 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
Acceleration under complex state so that the power of single driving motor is larger, and not only the space occupied is larger, but also sometimes one
The phenomenon that causing " low load with strong power " in a state that a little relative requirements energy are relatively low occurs, and can not meet under system Biodiversity operating mode
Power demand requirement so that dynamic performance reduces；
（9）Due to accelerometer by integration and quadratic integral obtain speed and the drift angle of robot, due to multiple product
Divide so that position of the pipe robot in closed conduit sometimes will appear certain mistake.
The stator of permasyn morot has identical stator structure with common electrically excited synchronous motor, only rotor
On using Nd-Fe-B rare earth permanent magnetic material as magnetic pole instead of the excitation pole of synchronous machine and Exciting Windings for Transverse Differential Protection, 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 other than having apparent energy-saving effect, also with the characteristic that rotating speed is accurate, noise is low, rare earth
Permanent magnet synchronous motor be based on it is rotor field-oriented or based on vector control system can realize high-precision, 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.
Invention content
The invention mainly solves the technical problem of providing a kind of wireless transmission six axis crawler type natural gas line machines of dinuclear
Device people's control system, completely new double-core control model of the independent research based on ARM+DSP, controller using ARM as processor core,
DSP realizes real-time acquisition, storage, wireless transmission and the two axis DC servo alignment system controls of CCD of Image Acquisition digital signal
System, and moment and ARM communications, free ARM in complicated work, ARM realizes four axis three-phase permanent magnet synchronous motors
Real-time control, and respond DSP interrupt, 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 wireless transmission dinuclear
Six axis crawler type natural gas line robot control systems, including battery, controller, permanent magnet synchronous motor X, permanent magnet synchronous motor
Y, direct current generator A, direct current generator B, permanent magnet synchronous motor Z, permanent magnet synchronous motor R, deposited 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, it is described
Battery the electric current driving controller is provided separately, the controller uses dual-core controller, including ARM and DSP, institute
The ARM stated carries out communication by wireless device with DSP and connects, described based on ccd image collecting unit and image storage unit
Company is communicated with ARM with DSP communication connections, the humidity collection unit and based on Hall effect pipeline inspection collecting unit
It connects, the ARM sends out first control signal, second control signal, the 5th control signal and the 6th control signal respectively, by institute
First control signal, second control signal, the 5th control signal and the 6th control signal stated control the permanent magnetism same respectively
The signal for walking motor Y, permanent magnet synchronous motor X, permanent magnet synchronous motor Z and permanent magnet synchronous motor R synthesizes later control pipeline machine again
The movement of device people, the DSP send out third control signal and the 4th control signal respectively, by described third control signal and
4th control signal control respectively the direct current generator A, direct current generator B signal synthesis after with being acquired based on ccd image
Unit communications connect.
In a preferred embodiment of the present invention, the battery uses lithium ion battery.
In a preferred embodiment of the present invention, the first control signal, second control signal, the 5th control letter
Number and the 6th control signal for PWM wave control signal.
In a preferred embodiment of the present invention, the ARM uses STM32F746；The DSP is used
TMS320F2812。
In a preferred embodiment of the present invention, the pipe robot includes robot housing, laser displacement senses
Device, magnetic navigation sensor, left fork sensor, right fork sensor, three-axis gyroscope and synchronous belt, the laser displacement
Sensor is separately mounted to the front end of robot housing, and the magnetic navigation sensor is arranged on robot housing and positioned at sharp
The lower section of Optical displacement sensor, the left fork sensor and right fork sensor are located at below magnetic navigation sensor respectively
Left and right ends, the synchronous belt be separately positioned on the left and right sides of robot housing and respectively with permanent magnet synchronous motor X, forever
Magnetic-synchro motor Y, permanent magnet synchronous motor Z are connected with permanent magnet synchronous motor R, and the three-axis gyroscope is arranged on robot housing
It goes up and is located between permanent magnet synchronous motor X and permanent magnet synchronous motor Y, the direct current generator A, direct current generator B and wireless device
It is arranged on robot housing.
In a preferred embodiment of the present invention, the laser displacement sensor include front laser displacement sensor,
Left laser displacement sensor and right laser displacement sensor, the front laser displacement sensor are being arranged on robot housing just
The centre position in front, the 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, the synchronous belt uses four axis, eight wheel drive mode, is by one
Perimeter surface is equipped with the closed ring crawler belt of equidistant tooth and corresponding belt wheel is formed.
In a preferred embodiment of the present invention, the natural gas line robot control system is additionally provided with host computer
Program, main motion control program are detected and are wirelessly transferred from motion control program, based on Hall effect pipe damage, described
Host computer procedure further include that pipeline is read, position positioning and power information, main motion control program are further included and be based on
Tetra- axis permanent magnet synchronous motor SERVO CONTROLs of ARM, data storage and I/O controls, described further included from motion control program are based on
Two axis direct current generator SERVO CONTROLs of DSP and based on DSP Image Acquisition, it is described to be passed based on Hall effect pipe damage detection wireless
It is defeated and respectively with based on Hall effect pipeline inspection collecting unit and wireless device communication connect.
In a preferred embodiment of the present invention, the natural gas line robot control system further includes photoelectric coding
Device, the photoelectric encoder be separately mounted to permanent magnet synchronous motor X, permanent magnet synchronous motor Y, direct current generator A, direct current generator B,
On permanent magnet synchronous motor Z and permanent magnet synchronous motor R.
The beneficial effects of the invention are as follows：Six axis crawler type natural gas tube pipeline robot of the wireless transmission dinuclear control of the present invention
System, in order to improve the utilization rate of the energy and reduce robot volume, this system efficiency and the higher permanent magnetism of power density
Synchronous motor is instead of motors such as stepper motor, direct current generators；In order to improve system acceleration request, system adds two power
Smaller permanent magnet synchronous motor plays the role of power-assisted, increases system dynamic characteristic；In order to improve arithmetic speed, ensure automatic pipeline
The stability and reliability of robot system, the present invention introduce digital signal processor DSP, shape in the controller based on ARM
Into the completely new dual-core controller based on ARM+DSP, this controller fully considers effect of the battery in this system, control system
The four central siphon pipeline robots navigation servo-drive system of middle workload maximum, battery cell monitoring, path read and give ARM processing, fully send out
The characteristics of ARM data processing speeds are relatively fast is waved, and image data acquiring, storage and CCD DC servos alignment system control
Etc. functions give DSP completion, thereby realize the division of labor of ARM and DSP, while can also be communicated therebetween, in real time
Carry out data exchange and calling.
Description of the drawings
To describe the technical solutions in the embodiments of the present invention more clearly, make required in being described below to embodiment
Attached drawing is briefly described, it should be apparent that, the accompanying drawings in the following description is only some embodiments of the present invention, for
For those of ordinary skill in the art, without creative efforts, it can also be obtained according to these attached drawings other
Attached drawing, wherein：
Fig. 1 is that the present invention is preferable with six axis crawler type natural gas line robot control system one of wireless transmission dinuclear
The schematic diagram of embodiment；
Fig. 2 is pipe robot two-dimensional structure schematic diagram；
Fig. 3 is the programme diagram of Fig. 1；
Fig. 4 is pipe robot inspection schematic diagram.
Specific embodiment
The technical solution 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, instead of all the embodiments.Based on the embodiments of the present invention, this field is common
All other embodiment that technical staff is obtained without making creative work belongs to the model that the present invention protects
It encloses.
As shown in Figure 1, the embodiment of the present invention includes：
A kind of wireless transmission six axis crawler type natural gas line robot control system of dinuclear, including battery, controller, forever
Magnetic-synchro motor X, permanent magnet synchronous motor Y, direct current generator A, direct current generator B, permanent magnet synchronous motor Z, permanent magnet synchronous motor R, base
In ccd image collecting unit, image storage unit, humidity collection unit, based on Hall effect pipeline inspection collecting unit, wireless
The electric current driving controller is provided separately in device and pipe robot, the battery, and the controller is using double
Nuclear control device, including ARM and DSP, the ARM carries out communication by wireless device with DSP and connects, described to be schemed based on CCD
As collecting unit and image storage unit are with DSP communication connections, the humidity collection unit and based on Hall effect pipeline
Collecting unit of detecting a flaw is communicated with ARM to be connected, and the ARM sends out first control signal, second control signal, the 5th control respectively
Signal processed and the 6th control signal, by the first control signal, second control signal, the 5th control signal and the 6th control
Signal controls the permanent magnet synchronous motor Y, permanent magnet synchronous motor X, permanent magnet synchronous motor Z and permanent magnet synchronous motor R's respectively
The movement of control pipeline robot again after signal synthesis, the DSP send out third control signal and the 4th control letter respectively
Number, signal and the 4th control signal is controlled to control the signal of the direct current generator A, direct current generator B respectively by the third
It is connected after synthesis with being communicated based on ccd image collecting unit.Wherein, the battery uses lithium ion battery；Described
One control signal, second control signal, the 5th control signal and the 6th control signal are PWM wave control signal.
In above-mentioned, the ARM uses STM32F746；The DSP uses TMS320F2812.
The completely 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 the highest processor core of efficiency, completely new STM32F7 MCU be ST STM32 MCU series of products in highest one of efficiency
Product combines Cortex-M7 cores and high-order peripheral unit, can promote application program efficiency, newly-increased new function, extend battery
Service life ensures safety and is reduced 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, 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, this MCU is made to be highly suitable for the application of high-speed electric expreess locomotive control.
TMS320F2812 is 32 fixed-point digital signal processings of novel high-performance for the C28x kernels being compatible with based on 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, provide a whole set of system on chip, and On-Chip peripheral mainly includes 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 there are two event manager modules (EVA, EVB) for band.Separately
Outside, which also has 3 32 independent bit CPU timers and up to 56 GPIO pins being independently programmable.F2812 is used
Unified addressing mode, chip interior have the SARAM of 18K, and including MO, M1, L0, L1, H0, totally 5 memory blocks, each memory block are kept
It is independent, it can access in the uniform machinery period to different RAM blocks, so as to reduce assembly line 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 expansion interface (XINTF), facilitates carry out system extension, and addressing space can reach 1MB；
These characteristics cause F2812 while having the data-handling capacity of digital signal processor brilliance, and with suitable for control
Piece in peripheral hardware and interface, can be widely applied in various high performance systems controls, These characteristics so that TMS320F2812 is special
Not Shi He crusing robot figure acquisition, image storage and location information storage.
In order to accurately acquire pipeline internal injury information, this controller is added for ccd image acquisition system and is based on
DSP two-dimensional localization servo-drive systems, this two-dimentional system includes direct current generator A and direct current generator B, when DSP is compared by storing image
It was found that behind suspicious region, the height of ccd image acquisition system lifting is adjusted by wireless control direct current generator A by main website, then
By the angle of direct current generator B adjustment ccd image acquisition system rotations so that the center of CCD is directed at the center of doubtful object, then
Suspicious region is analyzed by main website in real time, finds and handle this region in time, the DSP real-time storages region the image collected and
Location information provides basis for estimation for pipe robot inspection pipeline interpretation of result.
It is detected automatically in order to accurate guide duct robot, the present invention is using two sets of sensors navigation patterns
（A set of magnetic navigation sensor navigation, a set of laser displacement sensor navigation）, pipe robot two-dimensional structure such as Fig. 2 of the invention
It is shown：The pipe robot includes robot housing K, laser displacement sensor, magnetic navigation sensor ME1, left fork biography
Sensor ME2, right fork sensor ME3, three-axis gyroscope G1 and synchronous belt T, the laser displacement sensor are installed respectively
In the front end of robot housing K, the magnetic navigation sensor ME1 is arranged on robot housing K and is passed positioned at laser displacement
The lower section of sensor, the left fork sensor ME2 and right fork sensor ME3 are located at below magnetic navigation sensor ME1 respectively
Left and right ends, the synchronous belt T be separately positioned on the left and right sides of robot housing K and respectively with permanent magnet synchronous motor
X, permanent magnet synchronous motor Y, permanent magnet synchronous motor Z are connected with permanent magnet synchronous motor R, and the three-axis gyroscope G1 is arranged on machine
On people's housing K and between permanent magnet synchronous motor X and permanent magnet synchronous motor Y, the direct current generator A, direct current generator B and nothing
Line apparatus I is arranged on robot housing K.Wherein, the laser displacement sensor includes front laser displacement sensor
LSF, left laser displacement sensor LSL and right laser displacement sensor LSR, front laser displacement sensor LSF settings
Centre position immediately ahead of robot housing K, the left laser displacement sensor LSL and right laser displacement sensor LSR
The angularly disposed left and right ends immediately ahead of robot housing K respectively.
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.Left fork Magnetic Sensor ME2
Ground fork mark is detected respectively with right fork sensor ME3, then turns left respectively as cross pipeline or that turns right sentences
According to, and natural gas tube pipeline robot can accurately be compensated in this position, this calculates pipe robot inspection pipeline
Position is most important.
In order to improve the stability that natural gas tube pipeline robot navigates in closed conduit walking process, posture oneself is realized
Dynamic adjustment and independent navigation ability, and the error that accelerometer long term simulation is brought is reduced, the present invention is in natural gas line machine
With three-axis gyroscope G1 instead of accelerometer A1 in people's servo hardware system.Whole process is opened during pipe robot walks pipeline
Open three-axis gyroscope G1, three-axis gyroscope G1 is used for measuring the angular speed of three directions of advance of pipe robot, controller according to
The angular speed measured obtains its angle of inclination by integration.When the posture of pipe robot changes more than setting threshold values,
In a new sampling period controller just immediately to its position compensation, pipe robot is avoided in the process of walking because tilting
Generation that is excessive and translating into phenomenon, improves stability during its quick walking navigation；If three-axis gyroscope G1 is accumulated
Point, and it is transformed in navigational coordinate system, pipe robot can be independent of any external information just in closed conduit
Can obtain the information such as its speed in navigational coordinate system, yaw angle and position, generated navigation information continuity it is good and
And noise is very low, greatly enhances the autonomous inertial navigation ability of pipe robot.When pipe robot reads cross pipeline
During entrance, robot will realize the action of 90 or right-hand rotation 90, and in this case, three-axis gyroscope can be counted accurately
The angle of robot rotation is calculated, ensure that the accuracy of its turning.
Synchronous belt T transmissions are to be equipped with the closed ring crawler belt of equidistant tooth and corresponding belt wheel institute group by an inner peripheral surface
Into.During movement, be meshed transmission movement and power with tooth with the tooth socket of belt wheel, is a kind of engaged transmission, thus is passed with gear
The various advantages of dynamic, chain drive and Belt Drive.Synchronous belt K transmissions have accurate gearratio, and 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
It is not allow for working normally under pollution and the more severe occasion of working environment, compact-sized particularly suitable spinning transmission, therefore
The present invention forms four axis, eight wheel drive mode using synchronous belt technology.
The present invention has developed one kind by four rare-earth permanent-magnetic synchronous electricity to solve the problems, such as that domestic pipeline robot exists
Eight wheel wireless transmission crawler type double-core natural gas tube pipeline robots of machine driving, the larger rare earth permanent magnet of two power therein are same
Motor is walked by synchronous belt respectively with left and right four-wheel mechanical linkages, two lower-powered rare earth permanent-magnet synchronization motors in addition are only
There is the function of just being opened during robot acceleration and play power adjustment；Multiple wheels of left and right sides pass through crawler belt mechanical linkages, base respectively
Positioning function is provided for ccd image acquisition system in the servo-drive system of two axis direct current generators, natural gas tube pipeline robot relies on it
Carry sensors carry out inspection major gas pipeline.
The present invention has independently invented the completely new double-core based on ARM+DSP under the premise of external Dynamic matrix control thought is absorbed
Control model.Controller principle figure such as Fig. 1 of this secondary design：For control panel using ARM as processor core, DSP realizes Image Acquisition
Real-time acquisition, storage, wireless transmission and the two axis DC servo alignment systems of CCD of digital signal control, and the moment leads to ARM
News free ARM in complicated work, and ARM realizes the real-time control of four axis three-phase permanent magnet synchronous motors, and responds
DSP interrupt realizes data communication and storage live signal.
As shown in figure 3, the natural gas line robot control system is additionally provided with host computer procedure, main motion control
Program is detected and is wirelessly transferred from motion control program, based on Hall effect pipe damage, and the host computer procedure also wraps
Pipeline reading, position positioning and power information are included, main motion control program is further included based on tetra- axis permanent magnet synchronous electrics of ARM
Machine SERVO CONTROL, data storage and I/O controls, described further included from motion control program are watched based on two axis direct current generators of DSP
Clothes control and based on DSP Image Acquisition, it is described transmitted based on Hall effect pipe damage detection wireless and respectively with based on suddenly
That effect pipeline inspection collecting unit and wireless device communication connection.
In order to achieve the above object, the present invention takes following technical scheme, in order to improve the utilization rate of the energy and reduce robot
Volume, this system efficiency and the higher permanent magnet synchronous motor of power density are instead of motors such as stepper motor, direct current generators；
In order to improve system acceleration request, system adds two lower-powered permanent magnet synchronous motors and plays the role of power-assisted, increases system
System dynamic characteristics；In order to improve arithmetic speed, ensure the stability and reliability of automatic pipeline robot system, the present invention is in base
Digital signal processor DSP is introduced in the controller of ARM, forms the completely new dual-core controller based on ARM+DSP, this controller
Effect of the battery in this system is fully considered, the four central siphon pipeline robots navigation servo system of workload maximum in control system
System, battery cell monitoring, path, which are read, gives ARM processing, gives full play to the characteristics of ARM data processing speeds are relatively fast, and image
The functions such as data acquisition, storage and the control of CCD DC servos alignment system give DSP completions, thereby realize ARM and DSP
The division of labor, while can also be communicated therebetween, carry out data exchange and calling in real time.
As shown in figure 4, for the ARM+DSP dual-core controllers designed herein, under power-on state, ARM is first to pipe
Pipeline robot SOC batteries（State-of-charge）Judged, if battery power is relatively low, controller can send out alarm signal；If
Battery power is higher, the information such as inspection natural gas line length and radius is first inputed to ARM by wireless device, then pipe machine
Device people is placed to pipe detection mouth, and robot is introduced into self-locking state, and inlet valve F1 is waited for open, when front laser displacement passes
After sensor LSF determines that valve is opened, pipe robot enters buffer area to be checked, and then inlet valve F1 is closed, inlet valve
F2 is opened, and pipe robot enters pipe detection region；Pipe robot carry image capturing system, humidity collection system and
Pipe damage detection device, control device of wireless are opened, and pipe robot is quickly patrolled according to setting speed along inspection route
Inspection, ARM is according to the secondary adjustment pipe robot permanent magnet synchronous motor X of navigation sensor parameter or wireless transmission signal, permanent magnetism
The PWM output control signals of synchronous motor Y, permanent magnet synchronous motor Z and permanent magnet synchronous motor R, realize four permanent magnet synchronous motors
Real-time servo control, DSP makes CCD effectively adopt in real time by direct current generator A and two axis DC servo alignment systems of direct current generator B
Collection duct size information simultaneously stores, will be by wirelessly being sent out in image transmitting to main website if DSP has a question some position to inspection
Disconnected request is simultaneously communicated with ARM, and sending out cutoff command by wireless control ARM makes pipe robot stop, and main website passes through wireless device
It realizes the acquisition of CCD secondary images and fault localization, and is recorded and stored in real time by DSP；If pipe robot complete turn left or
When person is that right-hand rotation inspection subsidiary conduit again returns to main pipeline, ARM will open assist motor Z and motor R, according to navigation sensor
Parameter and the secondary adjustment pipe robot permanent magnet synchronous motor X of rate request, permanent magnet synchronous motor Y, permanent magnet synchronous motor Z and forever
The PWM outputs of magnetic-synchro motor R are realized the real-time servo control of four permanent magnet synchronous motors, in order to reduce energy consumption, are being returned
Return DSP information collections that will close CCD before main channel.
With reference to Fig. 1, Fig. 2, Fig. 3 and Fig. 4, specific function is realized as follows：
1）After pipe robot power supply opening, ARM can judge battery SOC, if battery SOC is relatively low, ARM will
Four permanent magnet synchronous motors is forbidden to work, permanent magnet synchronous motor input PWM wave is blocked, while alarm sensor is concurrent by work
Go out alarm signal, ARM is sent out to master station by wireless device and replaces power interruptions request；If battery SOC is normal, pipeline machine
People, which enters, treats working condition, waits for work order；
2）Master station by wireless device the right duct length of weather, radius and pipeline topographic map, last time call the roll of the contestants in athletic events information transmit
To the starting end of ARM, then wireless device conduit robot to pipe detection, in order to which precision navigation pipe robot is sealing
Walking in stopped pipe road, ARM first turn on inertial navigation pattern of the pipe robot based on three-axis gyroscope；
3）Pipe robot ARM controller begins through magnetic navigation sensor ME1 and reads area navigation magnetic stripe, and magnetic navigation passes
For the value of feedback of sensor ME1 compared with actual set central value, ARM passes through its internal three closed loop servo control according to the size of deviation
Processing procedure sequence adjust automatically permanent magnet synchronous motor X, permanent magnet synchronous motor Y, the PWM of permanent magnet synchronous motor Z and permanent magnet synchronous motor R are defeated
Go out, pipe robot is made to be fast forwarded through, while front laser displacement sensor LSF, by work, ARM is examined in real time along navigation magnetic stripe
The distance D of test tube pipeline robot and front inlet valve F1, the 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 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 determining that pipe robot is complete
Into after 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,
Inlet valve F2 will be opened, and front laser displacement sensor LSF determines the state of inlet valve F2 in front of secondary judgement at this time
After front valve opening is errorless, pipe robot initially enters region of patrolling and examining and starts to detect actual conditions inside natural gas line；
5）After pipe robot enters pipe detection region, wireless device will open ccd image acquisition system by DSP,
DSP starts two axis DC servo alignment systems simultaneously；ARM reads pipe robot according to the feedback of magnetic navigation sensor ME1
Practical location information and the numerical value of three-axis gyroscope G1, and compared with setting position, determine that pipe robot deviates center
Distance and inclined angle, ARM controller are anti-in conjunction with current of electric feedback, photoelectric encoder feedback and three-axis gyroscope G1's
Feedback controls signal, and pass through driving according to the PWM wave that its internal three Close loop servo control program obtains two permanent magnet synchronous motors
Circuit adjusts pipe robot posture in real time, makes pipe robot stable operation in magnetic stripe immediate vicinity, if master station pass through it is anti-
The acquisition image of feedback finds that pipe robot deviates from navigation track by a relatively large margin, will preferentially correct pipe by control device of wireless
The posture of pipeline robot；The air line distance that the real-time recorder people of ARM have run, distance correction sensor S moment detect ground
Face correct mark, once read correcting device, ARM record positional distance information will using correct mark location information as
Standard eliminates the caused site error of pipe robot when walking；If pipe robot is misread in the process of walking
Mark is corrected on ground, and main website will be communicated by radio transmitting device and ARM, and change the location information of pipe robot automatically；
6）If pipe robot is either encountered magnetic stripe fracture, magnetic navigation in normal motion by external interference
Sensor ME1 can not read ground magnetic strip information, and ARM controller will be communicated by control device of wireless and master station at this time, left
Laser displacement sensor LSL and right laser displacement sensor LSR opens work, and the two controls the distance input measured to ARM
Device, controller obtain off-centered position compared with setting value, and ARM is fed back in conjunction with current of electric, photoelectric encoder is anti-
Feedback and the feedback of three-axis gyroscope G1 obtain the PWM of two permanent magnet synchronous motors according to its internal three Close loop servo control program
Wave control signal, and pass through driving circuit and adjust pipe robot posture in real time, make pipe robot stable operation in magnetic stripe
Near the heart.ARM and the air line distance that recorder people has run in real time, distance correction sensor S moment detect ground amendment
Mark, once read correcting device, ARM record positions range information to be subject to correct mark location information, if pipe
Pipeline robot has misread ground and has corrected mark in the process of walking, and main website will be communicated, and automatic by radio transmitting device and ARM
The location information of pipe robot is changed, eliminates site error during pipe robot walking；
7）In pipe robot motion process, the CCD moment in Image Acquisition opens, DSP real-time storages CCD acquisitions
Image, DSP is compared the image of acquisition with the standard pipe information set, if larger mistake occurs in the two comparison result
Difference, maloperation in order to prevent, DSP sends out interrupt requests by wireless device to main website immediately, and is communicated with ARM, and ARM is rung immediately
DSP interrupt is answered, and pipe robot is allowed to stop；DSP by internal three closed-loop direct SERVO CONTROL programs adjust direct current generator A and
The output positioning CCD positions of direct current generator B, make ccd image acquisition center be directed at doubtful picture centre, CCD secondary acquisition pipelines
Information simultaneously passes through radio transmitting device real-time Transmission, and main website analyzes the suspicious region in real time, and DSP stores the image bis- times, doubtful
Wireless control reopens pipe robot after being disposed, it is made to continue to move ahead along pipeline navigation marker；
8）In pipe robot motion process, the humidity sensor moment in humidity collection system opens, and ARM is deposited in real time
The collected humidity information of humidity sensor is stored up, and is compared with the standard pipe humidity information of setting, if the two compares
As a result there is large error, ARM sends out interrupt requests by wireless device to main website immediately, and is communicated with DSP, and DSP is rung immediately
ARM is answered to interrupt, the output for adjusting direct current generator A and direct current generator B by internal three closed-loop direct SERVO CONTROL programs makes it fixed
Position CCD positions make ccd image acquisition center be directed at doubtful water images center, and CCD secondary acquisitions duct size information and passing through wirelessly passes
Defeated device real-time Transmission, main website analyze the suspicious region in real time, confirm it is errorless after, DSP stores the image and location information bis- times,
Then ARM is restarted by wireless device in main website, and control pipeline robot continues to move ahead, and after by suspicious region, ARM passes through interior
The PWM wave of portion three Close loop servo control program active accommodation two permanent magnet synchronous motors X and permanent magnet synchronous motor Y restore pipeline
The speed of 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 location information, when there is anomalies in front of conduit running, exception will occur in front laser displacement sensor LSF probe values,
ARM is controlled first by the PWM wave of three Close loop servo control program active accommodation two permanent magnet synchronous motors X and motor Y of inside
Signal, reducing the speed of pipe robot makes it drive towards doubtful pipeline obstruction region at a slow speed, while ARM is immediately to master station and DSP
Send out interrupt requests, DSP makes an immediate response ARM interruptions, and passes through internal three closed-loop direct SERVO CONTROL programs adjustment direct current generator A
Output with direct current generator B makes it position CCD positions, and ccd image acquisition center is made to be directed at doubtful obturator picture centre, CCD
Secondary acquisition duct size information simultaneously passes through radio transmitting device real-time Transmission, and main website analyzes the suspicious region in real time, in front of determining
During for small-sized obturator, since the pipe robot of this secondary design is more wheel crawler structures, so ARM control pipelines robot
It can clear the jumps and can continue to move ahead；When obturator volume is larger, total standing-meeting adjusts two axis permanent magnetism by wireless device
The output of synchronous motor makes it get around barrier；After by suspicious region, master station passes through radio transmitting device active accommodation two
The PWM wave of permanent magnet synchronous motors X and permanent magnet synchronous motor Y control signal, and restoring the speed of pipe robot makes it normally patrol
Examine 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 passes through internal three two permanent magnet synchronous electrics of Close loop servo control program active accommodation first
The PWM wave of machine X and motor Y control signal, and reducing the speed of pipe robot makes it drive towards pipe damage suspicious region at a slow speed, together
When ARM send out interrupt requests to master station and DSP immediately, DSP makes an immediate response ARM interruptions, and passes through internal three closed-loop direct servos
The output positioning CCD positions of program adjustment direct current generator A and direct current generator B are controlled, ccd image acquisition center is made to be directed at doubtful damage
Hinder pipeline position, CCD secondary acquisitions duct size information simultaneously passes through radio transmitting device real-time Transmission, and main website analyzes the doubtful area in real time
Domain, if DSP Image Acquisition images do not find pipe damage, DSP will record suspicious lesion actual position information, and labeled as outer
Portion is damaged, and after by suspicious region, master station is same by radio transmitting device active accommodation two permanent magnet synchronous motors X and permanent magnetism
The PWM wave of motor Y is walked, restoring 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, and relatively next reference point pipe robot permanent-magnet synchronous is calculated by ARM according to these range informations
Motor X and permanent magnet synchronous motor Y distance, speed and the acceleration to be run respectively, ARM is fed back in conjunction with current of electric, photoelectricity
The feedback of encoder feedback and ground magnetic stripe obtains two permanent magnet synchronous motors according to its internal three Close loop servo control program
PWM wave controls signal, and pipe robot is made quickly to move ahead according to setting speed；
12）During the motion if pipe robot detective distance solution occur endless loop will be sent out to ARM interruption please
It asks, ARM can do interruption response and original place self-locking at the first time, then send out interrupt requests to master station；Master station passes through without traditional thread binding
It puts and resets ARM again, transmit the information such as new position, ARM is sensed according to pipeline magnetic bar navigation mark feedback and left laser displacement
The feedback of device LSL and right laser displacement sensor LSR adjust permanent-magnet synchronous X-motor and the speed of permanent magnet synchronous motor Y in real time,
Pipe robot inspection since new position；
13）After pipe robot enters detection zone, if robot during main pipeline inspection, left fork sensor
ME2 reads ground turning mark, and ARM corrects the location information of robot in the duct according to ground installation first, eliminates pipeline
Robot ambulation error；ARM is according to system speed and acceleration requirement, then in conjunction with current of electric, photoelectric encoder and three axis
The feedback of gyroscope G1 adjusts the pwm control signal of pipe robot permanent magnet synchronous motor X and permanent magnet synchronous motor Y, makes in real time
Pipe robot stops in distance R, and then the feedback of ARM combinations three-axis gyroscope G1 makes pipe robot rotate in place a left side 90
Degree, pipe robot enter left turnout and cruise；In left turnout detection process, the front laser displacement sensor LSF moment
It opens and detects doubtful tamper and detect the distance with front terminal；ARM is according to the feedback of front laser displacement sensor LSF
Record forward travel distance in real time, and robot is made effectively to stop in effective range before the terminal of turnout, pipe robot is three
180 degree is rotated in place under axis gyroscope G1 controls to prepare to return to main channel；Due to left turnout, inspection finishes, in order to make pipeline
Robot is returned quickly in main pipeline, and ARM opens power-assisted permanent magnet synchronous motor Z and permanent magnet synchronous motor R, is entered system and is added
Fast return state；In entire return course, ARM is according to system speed and acceleration requirement, then in conjunction with current of electric, photoelectricity
The feedback of encoder and three-axis gyroscope G1 adjusts pipe robot permanent magnet synchronous motor X, permanent magnet synchronous motor Y, permanent magnetism in real time
The pwm control signal of synchronous motor Z and permanent magnet synchronous motor R make pipe robot can speed up along landing ground magnetic stripe and return to master
Pipeline, in order to save the energy, in return trip, main website will close ccd image acquisition system until reaching main channel by DSP；
14）After pipe robot enters detection zone, if pipe robot, during main pipeline inspection, right fork passes
Sensor ME3 reads ground turning mark, and ARM corrects the location information of pipe robot in the duct according to ground installation first,
Eliminate pipe robot walking error；ARM is according to system speed and acceleration requirement, then in conjunction with current of electric, photoelectric coding
The feedback of device and three-axis gyroscope G1 adjusts the PWM control letters of robot permanent magnet synchronous motor X and permanent magnet synchronous motor Y in real time
Number, pipe robot is made to stop in distance R, the feedback of ARM combination three-axis gyroscopes G1 makes robot rotate in place 90 degree of the right side,
Pipe robot enters right turnout and cruises；In right turnout detection process, the front laser displacement sensor LSF moment opens
And detect doubtful tamper and the distance of detection and front terminal；ARM is real-time according to the feedback of front laser displacement sensor LSF
Forward travel distance is recorded, and pipe robot is made effectively to stop in effective range before the terminal of turnout, pipe robot is three
180 degree is rotated in place under axis gyroscope G1 controls to prepare to return to main channel；Due to right turnout, inspection finishes, in order to make pipeline
Robot is returned quickly in main pipeline, and ARM opens power-assisted permanent magnet synchronous motor Z and permanent magnet synchronous motor R, is entered system and is added
Fast return state；In entire return course, ARM is according to system speed and acceleration requirement, with reference to current of electric, photoelectric coding
The feedback of device and three-axis gyroscope G1 adjusts pipe robot permanent magnet synchronous motor X, permanent magnet synchronous motor Y, permanent-magnet synchronous in real time
The pwm control signal of motor Z and permanent magnet synchronous motor R make pipe robot can speed up along landing ground magnetic stripe and return to main pipeline,
In order to save the energy, in return trip, main website will close ccd image acquisition system until reaching main channel by DSP；
15）Mounted in permanent magnet synchronous motor X, permanent magnet synchronous motor Y, permanent magnet synchronous motor Z, permanent magnet synchronous motor R, direct current
Photoelectric encoder on machine A and direct current generator B can export its position signal A and position signal B, the position signal of photoelectric encoder
A pulses and B pulsed logics state often change once, ARM（Or DSP）Interior location register can add according to the traffic direction of motor
1 either subtracts 1；When the position signal A pulses and B pulses and Z pulses of photoelectric encoder are low level simultaneously, one is just generated
INDEX signals are to ARM（Or DSP）Internal register records the absolute position of permanent magnet synchronous motor, is then convert into pipeline machine
Specific location of the people in pipe detection system；
16）Pipe robot calculates battery SOC in real time in operational process ARM according to its internal algorithm, if controller is sent out
When now power supply energy is relatively low, ARM can be communicated with DSP, and close ccd image collecting work and image storage work by DSP, and
The PWM for adjusting permanent magnet synchronous motor X and permanent magnet synchronous motor Y by its internal three closed loop servo-control system program is exported, pipe
Pipeline robot drives towards exit under wireless control with slower speed, ensures that pipe robot can smoothly arrive exit；
17）During pipe robot inspection, if servo controller detects that the torque of permanent magnet synchronous motor occurs
Pulsation, since the permanent magnet synchronous motor control that the present invention uses is based on vector controlled, controller can be easy to compensate this
Interference, reduces influence of the motor torque to crusing robot motion process；
18）During pipe robot drives towards outlet valve, when the front laser displacement sensor LSF carried understands
It carves and detects its displacement between valve, when determining outlet valve F3 in opening state, pipe robot will open cruise mode,
Controller ARM records the distance that pipe robot has been moved along magnetic stripe in real time, when determining pipe robot completely into going out
Behind mouth region to be checked, outlet valve F3 will be closed, the natural gas situation that natural gas suction unit will aspirate region to be checked, when natural
When gas leakage device is not detected region to be checked and has natural gas residual, outlet valve F4 will be opened, and front laser displacement passes at this time
Sensor LSF by the state of secondary judgement front exit valve F4, determine front exit valve F4 open it is errorless after, pipe robot
Detection pipeline is driven out to, returns to detection terminal, waits for next sense command.
The invention has the advantages that：
1：In pipeline crusing robot motion process, the effect of battery in this system is fully considered, based on ARM
+ DSP dual-core controller the moment is all being monitored its state and operation, has both avoided the lithium caused by heavy-current discharge
The generation of ion battery overaging phenomenon, and can effectively predict the energy of battery, it has been provided for pipe robot inspection
Effect ensures；
2：By SERVO CONTROL of ARM processing pipeline four permanent magnet synchronous motors of crusing robot based on vector controlled and move
Power adjusts, and the control of the two axis DC servo alignment systems of CCD is realized by DSP, and the two had both realized the division of labor, and had been reduced ARM
Workload so that control is fairly simple, substantially increases arithmetic speed, solves scm software and runs slower bottleneck,
It is short to shorten the development cycle, 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 conducive to the mitigation of pipeline crusing robot volume and weight；
4：Inventive pipeline crusing robot navigation system is using permanent magnet synchronous motor instead of in traditional robot system
Common stepper motor, direct current generator, DC brushless motor, due to its small volume, efficiency is higher so that pipe robot body
Product can further reduce, and energy utilization rate greatly improves；
5：Due to using the permanent magnet synchronous motor based on vector controlled so that speed adjustable range is wider, and contrast of regulating speed is steady,
It is very small even if the pulsating torque of low-speed stage motor, be conducive to the dynamic property of raising system；
6：Since this controller uses DSP processing figures to acquire, store, the mass data of two axis DC servo alignment systems
With algorithm, ARM from hard work amount is freed, effectively prevents " run and fly " of program, antijamming capability is significantly
Enhancing；
7：In control, ARM controller can adjust four axis permanent magnet synchronous electrics in due course according to robot periphery operating condition
The servo-controlled pid parameter of machine realizes segmentation P, PD, PID control and nonlinear PID controller, dynamic performance is made to carry significantly
It is high；
8：Equipped with humidity collection system on pipeline crusing robot, it can detect that the humidity in tunnel is abnormal easily
Region, can effectively find the presence of pipeline water droplet, and wireless transmitting system can effectively improve the detection efficiency of system humidity；
9：Equipped with image capturing system on pipeline crusing robot, it can detect that pipeline internal pipeline corrodes easily
Etc. abnormal conditions, and effectively store its image, wireless transmitting system can improve the efficiency of image capturing system；
10：Master station's staff's accurate judgement suspicious region, while wireless remote control skill can be made based on wireless image transmission
Art can be very good to solve the emergency situations that pipe robot occurs, for example solve and crash, restart pipe robot etc.；
11：Image store function based on DSP facilitates staff to read after causing pipeline crusing robot completion task
Inspection is as a result, pipeline corrupted information and specific location can easily be read from storage result, then on-call maintenance；
12：Equipped with the fault localization acquisition system based on Hall effect on pipeline crusing robot, can examine easily
The abnormal conditions such as pipeline external corrosive pipeline and damage are measured, are conducive to pipeline of pinpointing the problems early；
13：The addition of three-axis gyroscope can effectively detect the angle of inclination that pipe robot deviates pipeline plane, ARM controls
Device can be adjusted this angle and pass through wireless device transmissions to master station at the moment, effectively control the posture of pipe robot；
14：The addition of magnetic navigation sensor and laser displacement sensor is so that system navigation has certain redundancy, pole
The big stability for improving pipeline crusing robot；
15：The addition of synchronous belt technology causes multiple wheels all to have power, while the addition of crawler belt effectively increases pipeline
The area that robot contacts in the duct allows robot effectively by with obstruction object area, improving environment and fitting
Ying Xing；
16：Two axis ccd images acquisition alignment system based on direct current generator A and direct current generator B can make Image Acquisition more
Reliably, it carries out pipe damage for main website and obstruction information is analyzed provide reliable basis in real time；
17：Turning navigation marker cooperation left and right sides laser displacement sensor in ground allows system easily to read pipeline letter
Breath, is conducive to the elimination of positioning and site error of the pipe robot in complicated pipeline；
18：The addition of three-axis gyroscope can effectively measure angle during pipe robot turning, be that robot is managed in complexity
Turning navigation in road improves reliable basis；
19：The addition of two power-assisted permanent magnet synchronous motors is so that the power performance of system is adjusted with optional so that machine
Device people can meet the power demand under different operating modes so that the adaptability of robot is strengthened；
20：The addition of three-axis gyroscope can effectively measure the speed that pipe robot occurs in line navigation and direction is inclined
It moves, reliable basis is improved for inertial navigation of the robot in complicated pipeline.
It to sum up tells, six axis crawler type natural gas line robot control system of wireless transmission dinuclear of the invention, in order to
It improves the utilization rate of the energy and reduces robot volume, this system efficiency and the higher permanent magnet synchronous motor of power density replace
For motors such as stepper motor, direct current generators；In order to improve system acceleration request, system adds two lower-powered permanent magnetism
Synchronous motor plays the role of power-assisted, increases system dynamic characteristic；In order to improve arithmetic speed, ensure automatic pipeline robot system
Stability and reliability, the present invention introduces digital signal processor DSP in the controller based on ARM, formed based on ARM+
The completely new dual-core controller of DSP, this controller fully consider effect of the battery in this system, workload in control system most
Four central siphon pipeline robots navigation servo-drive system greatly, battery cell monitoring, path read and give ARM processing, give full play at ARM data
The characteristics of speed is relatively fast is managed, and the functions such as image data acquiring, storage and the control of CCD DC servos alignment system are given
DSP is completed, and thereby realizes the division of labor of ARM and DSP, while can also be communicated therebetween, carries out data friendship in real time
It changes and calls.
The foregoing is merely the embodiment of the present invention, are not intended to limit the scope of the invention, every to utilize this hair
The equivalent structure or equivalent flow shift that bright description is made directly or indirectly is used in other relevant technology necks
Domain is included within the scope of the present invention.
Claims (2)
1. it is a kind of wireless transmission six axis crawler type natural gas line robot control system of dinuclear, which is characterized in that including battery,
Controller, permanent magnet synchronous motor X, permanent magnet synchronous motor Y, direct current generator A, direct current generator B, permanent magnet synchronous motor Z, permanent-magnet synchronous
Motor R, based on ccd image collecting unit, image storage unit, humidity collection unit, based on Hall effect pipeline inspection acquire
The electric current driving controller, the control is provided separately in unit, wireless device and pipe robot, the battery
Device uses dual-core controller, and including ARM and DSP, the ARM carries out communication by wireless device with DSP and connects, the base
In ccd image collecting unit and image storage unit with DSP communication connections, the humidity collection unit and based on Hall effect
Answer pipeline inspection collecting unit with ARM communicate connect, the ARM send out respectively first control signal, second control signal,
5th control signal and the 6th control signal, by the first control signal, second control signal, the 5th control signal and the
Six control signals control the permanent magnet synchronous motor Y, permanent magnet synchronous motor X, permanent magnet synchronous motor Z and permanent magnet synchronous electric respectively
The movement of control pipeline robot, the DSP send out third control signal and the 4th control respectively again after the signal synthesis of machine R
Signal processed controls the direct current generator A, direct current generator B respectively by described third control signal and the 4th control signal
It is connected after signal synthesis with being communicated based on ccd image collecting unit, the first control signal, second control signal, the
Five control signals and the 6th control signal are PWM wave control signal, and the ARM uses STM32F746；The DSP is adopted
With TMS320F2812, the pipe robot includes robot housing, laser displacement sensor, magnetic navigation sensor, Zuo Cha
Oral instructions sensor, right fork sensor, three-axis gyroscope and synchronous belt, the laser displacement sensor are separately mounted to machine
The front end of people's housing, the magnetic navigation sensor are arranged on robot housing and are located at the lower section of laser displacement sensor,
The left fork sensor and right fork sensor are located at the left and right ends below magnetic navigation sensor, the synchronization respectively
Band is separately positioned on left and right sides of robot housing and same with permanent magnet synchronous motor X, permanent magnet synchronous motor Y, permanent magnetism respectively
Step motor Z is connected with permanent magnet synchronous motor R, and the three-axis gyroscope is arranged on robot housing and positioned at permanent magnet synchronous electric
Between machine X and permanent magnet synchronous motor Y, the direct current generator A, direct current generator B and wireless device are arranged at robot housing
On, the laser displacement sensor includes front laser displacement sensor, left laser displacement sensor and right laser displacement and passes
Sensor, the front laser displacement sensor are arranged on the centre position immediately ahead of robot housing, the left laser position
Displacement sensor and right laser displacement sensor angularly disposed left and right ends immediately ahead of robot housing respectively, the synchronization
Band is to be equipped with the closed ring crawler belt of equidistant tooth and corresponding belt wheel by an inner peripheral surface using four axis, eight wheel drive mode
It is formed, the natural gas line robot control system is additionally provided with host computer procedure, main motion control program, from movement
Control program, based on Hall effect pipe damage detect and be wirelessly transferred, the host computer procedure further include pipeline read,
Position position and power information, the main motion control program further include based on tetra- axis permanent magnet synchronous motor SERVO CONTROLs of ARM,
Data store and I/O controls, described to further include based on two axis direct current generator SERVO CONTROLs of DSP and be based on from motion control program
DSP Image Acquisition, it is described to detect and be wirelessly transferred based on Hall effect pipe damage respectively with being visited based on Hall effect pipeline
Hinder collecting unit and wireless device communication connection, the natural gas line robot control system further includes photoelectric encoder,
The photoelectric encoder is separately mounted to permanent magnet synchronous motor X, permanent magnet synchronous motor Y, direct current generator A, direct current generator B, forever
On magnetic-synchro motor Z and permanent magnet synchronous motor R.
2. natural gas line robot control system according to claim 1, which is characterized in that the battery uses lithium
Ion battery.
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| CN107448729A (en) * | 2017-09-13 | 2017-12-08 | 长沙展朔轩兴信息科技有限公司 | A kind of ultrasonic inspection robot in pipeline |
| US20210339389A1 (en) * | 2018-09-28 | 2021-11-04 | Element Ai Inc. | System and method for robotic agent management |
| CN110187705B (en) * | 2019-05-27 | 2020-03-31 | 武昌理工学院 | Robot remote control delay elimination control system and method |
| CN110501124A (en) * | 2019-08-23 | 2019-11-26 | 北京航星网讯技术股份有限公司 | The laser gas of program-controlled lifting and horizontal sweep detects cradle head device |
| CN113048326A (en) * | 2021-03-14 | 2021-06-29 | 郑州大学 | Robot for detecting defects in pipeline based on machine vision |
| CN113028200A (en) * | 2021-03-14 | 2021-06-25 | 郑州大学 | Pipeline positioning robot based on laser ranging |
| CN114770541B (en) * | 2022-04-27 | 2022-10-21 | 南京农业大学 | Intelligent inspection robot capable of realizing displacement compensation and intelligent inspection method |
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