CN105856237B - It is wirelessly transferred three core, four axis caterpillar type high-speed natural gas line robot control system - Google Patents
It is wirelessly transferred three core, four axis caterpillar type high-speed natural gas line robot control system Download PDFInfo
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- CN105856237B CN105856237B CN201610400360.XA CN201610400360A CN105856237B CN 105856237 B CN105856237 B CN 105856237B CN 201610400360 A CN201610400360 A CN 201610400360A CN 105856237 B CN105856237 B CN 105856237B
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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, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
- G05D1/0248—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means in combination with a laser
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0259—Control of position or course in two dimensions specially adapted to land vehicles using magnetic or electromagnetic means
- G05D1/0263—Control of position or course in two dimensions specially adapted to land vehicles using magnetic or electromagnetic means using magnetic strips
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
- F16L2101/00—Uses or applications of pigs or moles
- F16L2101/30—Inspecting, measuring or testing
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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Automation & Control Theory (AREA)
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Abstract
The invention discloses a kind of three core of wireless transmission, four axis caterpillar type high-speed natural gas line robot control system, the controller uses three nuclear control devices, including ARM, FPGA and DSP, described ARM, FPGA to carry out communication by wireless device with DSP and connect.Through the above way, line provided by the invention transmits three core, four axis caterpillar type high-speed natural gas line robot control system, completely new three nuclear control pattern of the independent research based on ARM+FPGA+DSP, controller is using ARM as processor core, the SERVO CONTROL of two axis permanent magnet synchronous motors and two axis direct current generators is realized by FPGA, DSP realizes the real-time processing of Image Acquisition digital signal and is communicated with ARM, ARM is freed in complicated work, realize the real time position acquisition of two axis three-phase permanent magnet synchronous motors, and respond DSP interrupt, realize 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 three core, four axis caterpillar type high-speeds
Natural gas line 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,
The impurity such as free water, dust make the pipeline of laying be in inside and outside etching condition, or even inside will produce obstruction feelings sometimes
Condition occurs.Along with environment, geology, meteorology and hydrological disaster, tubing and design defect, operation error or even artificial destruction etc. because
The safety of element, pipeline is threatened by many factors.
One gas pipeline on June 4th, 1989, the former Soviet Union leaks, 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 hair of the 720 mm bores of the New Mexico southeast one
Raw 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 fireball rushes to sky, and ground leaves the hollow place of 25 m of a Taoist priest, deep 6 m after explosion；The oil and gas pipeline in China
Also accident once repeatedly occurs, pipeline occurs the accidents such as explosion, leakage, stopping transportation and not only causes huge property loss, but also endangers
Evil arrives ecological environment.
Pipe robot, which is one kind, carrying one or more sensings along either external automatically walk 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.
One practical natural gas tube pipeline robot 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
Pipeline robot microprocessor instructs to execute 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 a closed pipeline
Portion's situation is extremely complex, natural gas tube pipeline robot must use certain intelligent algorithm just can accurately out of pipeline a little to
Up in addition, form point-to-point inspection, and real-time storage 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 humidity, congestion situations, pipe damage information and damage position information in pipeline,
Motor status information, battery status information etc. are required for by microprocessor processes and make corresponding judgement；
7）Wireless device：In order to find in time and process problem, automatic Pipeline robot must be used without traditional thread binding
It sets, the Image Acquisition and damage collection result of real-time Transmission inspection, 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 to use 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 are all made of 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 being all made of chargeable storage using the energy entrained by motor-driven pipe robot, these storages
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 when 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）Either based on the vector controlled either servo based on orientation on rotor flux algorithm permanent magnet synchronous motor
Control will also carry out the closed-loop control of electric current and speed other than carrying out multiple coordinate transform and inverse transformation, thus realize
More complicated and requirement of real-time is higher；It is realized using DSP technologies either ARM technologies and with software mode, system development
Period is long, and the processor time that the algorithm occupies is relatively more, affects the DSP either processing functions of ARM；Using
Although special sport control chip can reduce processor processing time, its internal PID adjusting can only meet single
It is required that cannot be satisfied application of the pipe robot in complex environment；
（6）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, and the angle of robot None- identified self plane and pipeline principal plane, robot can not real-time basis
Peripheral environment adjusts the pid parameter of oneself, causes to tilt when robot ambulation, or even overturn sometimes, task is caused to be lost
It loses；
（7）For there is the natural gas line of obstruction, common wheeled robot and contact area of ground are less, obstacle climbing ability
It is weaker, it can not even clear the jumps sometimes, it finally can not inspection completion task；
（8）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.
The stator of permasyn morot and common electrically excited synchronous motor stator structure having the same, 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, the reliable of motor running is improved
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 uses so that power of motor density is higher, so the volume of motor be can be made smaller, suitable volume requirement is relatively high
Occasion.Permasyn morot also has the characteristic that rotating speed is accurate, noise is low, rare earth other than having apparent energy-saving effect
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 make rare earth permanent-magnet synchronization motor be particularly suitable for being used in pipe robot this
It is a little to require in more special robot control system.
Crawler-type mobile mechanism is the expansion of wheeled locomotion mechanism, and crawler belt itself plays a part of continuously paving the way to wheel.
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 three core of wireless transmission, four axis caterpillar type high-speed natural gas tubes
Pipeline robot control system, the independent research completely new three nuclear control pattern based on ARM+ FPGA+DSP, controller are with ARM
Processor core is realized that the SERVO CONTROL of two axis permanent magnet synchronous motors and two axis direct current generators, DSP realize Image Acquisition by FPGA
The real-time processing of digital signal is simultaneously communicated with ARM, and ARM is freed in complicated work, realizes two axis three-phase permanents
The real time position of synchronous motor acquires, and responds DSP interrupt, realizes 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 three cores of wireless transmission
Four axis caterpillar type high-speed 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, based on ccd image collecting unit, image storage unit, humidity collection unit, be based on
Electric current driving institute is provided separately in Hall effect pipeline inspection collecting unit, wireless device and pipe robot, the battery
The controller stated, the controller use three nuclear control devices, including ARM, FPGA and DSP, described ARM, FPGA and DSP logical
It crosses wireless device and carries out communication connection, it is described to be led to DSP and FPGA based on ccd image collecting unit and image storage unit
News connection, the humidity collection unit and based on Hall effect pipeline inspection collecting unit with ARM and FPGA communication connect,
The ARM and FPGA sends out first control signal and second control signal respectively, by the first control signal and second
The signal that control signal controls the permanent magnet synchronous motor Y and permanent magnet synchronous motor X respectively synthesizes later control pipeline machine again
The movement of device people, the DSP and FPGA send out third control signal and the 4th control signal respectively, are controlled by the third
Signal and the 4th control signal control the direct current generator A respectively, the signal of direct current generator B is schemed after synthesizing with based on CCD
As collecting unit communication connection.
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 are PWM wave control
Signal.
In a preferred embodiment of the present invention, the ARM uses STM32F746；The FPGA is used
QUICKLOGIC；The DSP uses TMS320F2812.
In a preferred embodiment of the present invention, the pipe robot includes robot shell, laser displacement sensing
Device, magnetic navigation sensor, distance correction sensor, three axis accelerometer and synchronous belt, the laser displacement sensor point
Not An Zhuan robot shell front end, the magnetic navigation sensor and distance correction sensor are arranged at robot shell
The lower section of laser displacement sensor is gone up and is located at, the synchronous belt is separately positioned on the left and right sides of robot shell and divides
It is not connect with permanent magnet synchronous motor X and permanent magnet synchronous motor Y, the three axis accelerometer is arranged on robot shell and position
Between permanent magnet synchronous motor X and permanent magnet synchronous motor Y, direct current generator A, direct current generator B and the wireless device are respectively provided with
On robot shell.
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 described front laser displacement sensor setting robot shell 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 two axis, six 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, based on ARM main motions control program, based on DSP from motion control program, based on Hall effect pipe damage detection and
Wireless transmission, the host computer procedure further includes that pipeline is read, position positions and power information, described based on the main fortune of ARM
Dynamic control program further include based on two axis permanent magnet synchronous motor SERVO CONTROLs of FPGA, data storage and I/O controls, it is described based on
DSP further includes based on two axis direct current generator SERVO CONTROLs of FPGA and being based on DSP Image Acquisition, the base from motion control program
In Hall effect pipe damage detection wireless transmit and respectively with based on Hall effect pipeline inspection collecting unit and wireless device
Communication connection.
In a preferred embodiment of the present invention, the natural gas line robot control system further includes photoelectric coding
Device, the photoelectric encoder are separately mounted to permanent magnet synchronous motor X, permanent magnet synchronous motor Y, direct current generator A and direct current generator B
On.
The beneficial effects of the invention are as follows：Three core of wireless transmission, the four axis caterpillar type high-speed natural gas tube pipeline robot of the present invention
Control system, in order to improve the utilization rate of the energy and reduce robot volume, this system efficiency and power density are higher
Permanent magnet synchronous motor is instead of motors such as stepper motor, direct current generators；In order to improve arithmetic speed, ensure automatic pipeline robot
The stability and reliability of system, the present invention introduce FPGA and digital signal processor DSP, shape in the controller based on ARM
At the completely new three nuclear control device based on ARM+ FPGA+DSP, this controller fully considers effect of the battery in this system, control
The maximum two axis permanent magnet synchronous motor of workload and two axis direct current generator servo-drive systems give FPGA completions in system processed, pipeline is read
Take, ARM processing is given in position positioning and power information etc., give full play to the relatively fast feature of ARM data processing speeds, and scheme
Completed as data the functions such as acquire and store and give DSP, thereby realize the division of labor of ARM, FPGA and DSP, at the same three it
Between can also be communicated, carry out data exchange and calling in real time.
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, drawings in the following description are only some embodiments of the 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 the present invention with wireless transmission three core, four axis caterpillar type high-speed natural gas line robot control system one
The schematic diagram of preferred 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 implementation mode
The technical scheme in the embodiments of the invention will be clearly and completely described below, it is clear that described implementation
Example is only a 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 three core of wireless transmission, four axis caterpillar type high-speed natural gas line robot control system, including battery, control
Device, permanent magnet synchronous motor Y, direct current generator A, direct current generator B, is deposited based on ccd image collecting unit, image permanent magnet synchronous motor X
Storage unit, humidity collection unit are based on Hall effect pipeline inspection collecting unit, wireless device and pipe robot, described
Battery be provided separately the electric current driving controller, the controller uses three nuclear control devices, including ARM, FPGA and
DSP, described ARM, FPGA carry out communication by wireless device with DSP and connect, described based on ccd image collecting unit and figure
As storage unit is with DSP and FPGA communication connections, the humidity collection unit and based on the acquisition of Hall effect pipeline inspection
Unit is connected with ARM and FPGA communications, and the ARM and FPGA send out first control signal and second control signal respectively,
The permanent magnet synchronous motor Y and permanent magnet synchronous motor X are controlled by the first control signal and second control signal respectively
Signal synthesis after control pipeline robot again movement, the DSP and FPGA send out third control signal and the respectively
Four control signals control the direct current generator A, direct current generator respectively by the third control signal and the 4th control signal
After the signal synthesis of B connection is communicated with based on ccd image collecting unit.Wherein, the battery uses lithium ion battery；Institute
First control signal, the second control signal stated are PWM wave control signal.
Among the above, the ARM uses STM32F746；The FPGA uses QUICKLOGIC；The DSP is used
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 reduces as far as possible using outer member to save the incomparable advantage such as cost and space.
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.
FPGA uses logical cell array LCA（Logic Cell Array）Such a new concept, inside includes can
Configure logic module CLB（Configurable Logic Block）, output input module IOB（Input Output Block）
And interconnector（Interconnect）Three parts.The basic characteristics of FPGA mainly have：Using FPGA design ASIC circuit, use
Family need not throw piece production, the chip that can be shared；FPGA can do the pilot scale of other full customs or semi-custom ASIC circuit
Print；There are abundant trigger and I/O pins inside FPGA；FPGA be the design cycle is most short in ASIC circuit, development cost most
One of low, least risk device；FPGA uses high speed CHMOS techniques, low in energy consumption, can be compatible with CMOS, Transistor-Transistor Logic level.On
The feature of stating allows user according to the design needs of oneself, is carried out again to the inside FPGA by specific placement-and-routing's tool
Combination connection, designs the application-specific integrated circuit of oneself within the shortest time, is reduced by cost in this way, shortens the development cycle.
Since FPGA is using the design of the design philosophy realization hardware circuit of software implementation, the system tool based on FPGA design is allowed in this way
There are good reusable and modification property.This completely new design philosophy has gradually been applied in high performance exchange drive control
On, and it is fast-developing.These characteristics make FPGA be particularly suitable in servo control, four used especially for the present invention
Axis natural gas line inspection SERVO CONTROL structure, the servo programe that can greatly reduce STM32F7 controllers are write.
TMS320F2812 is 32 fixed-point digital signal processings of novel high-performance for the C28x kernels being compatible with based on code
The instruction execution cycle of device, C28x kernels has 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 includes mainly 12,2 × 8 tunnel ADC (when 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 independent 32 bit CPU timers, and up to 56 GPIO pins being independently programmable.F2812 is used
Unified addressing mode, chip interior has the SARAM of 18K, including totally 5 memory blocks, each memory block are kept by MO, M1, L0, L1, H0
It is independent, it can access to different RAM blocks in the uniform machinery period, to reduce assembly line time delay.And inside F2812
There are the FLASH of 128K words, address space 3D8000h~3F7FFFh, is suitable for low-power consumption, high performance control system.In addition
F2812 provides external memory expansion interface (XINTF), facilitates carry out system extension, addressing space that can reach 1MB；
These characteristics make 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
The positioning servo system of direct current generator A and direct current generator B, when DSP by storing image it was found that behind suspicious region, by main website
The height of ccd image acquisition system lifting is adjusted by wireless control direct current generator A, and ccd image is then adjusted by direct current generator B
The angle of acquisition system rotation so that the center of CCD is directed at the center of doubtful object, then analyzes doubtful area in real time by main website
Domain finds and handles in time this region, the DSP real-time storages region the image collected and location information, is pipeline machine
People's inspection pipeline interpretation of result provides basis for estimation.
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 shell K, laser displacement sensor, magnetic navigation sensor ME1, distance correction
Sensor S, three axis accelerometer A1 and synchronous belt T, the laser displacement sensor are separately mounted to robot shell K's
Front end, the magnetic navigation sensor ME1 and distance correction sensor S are arranged on robot shell K and are located at laser position
The lower section of displacement sensor, the synchronous belt T be separately positioned on the left and right sides of robot shell K and respectively with permanent-magnet synchronous
Motor X is connected with permanent magnet synchronous motor Y, and the three axis accelerometer A1 settings are on robot shell K and same positioned at permanent magnetism
Between walking motor X and permanent magnet synchronous motor Y, the direct current generator A, direct current generator B and wireless device I are arranged at robot
On shell.Wherein, the laser displacement sensor includes front laser displacement sensor LSF, left laser displacement sensor LSL
With right laser displacement sensor LSR, during the front laser displacement sensor LSF is arranged immediately ahead of robot shell K
Between position, the left laser displacement sensor LSL and right laser displacement sensor LSR are angularly disposed in robot shell respectively
Left and right ends immediately ahead of K.
The magnetic navigation sensor ME1 moment detects the magnetic stripe in pipeline, and sensor is the first navigation criterion according to this, works as magnetic stripe
When the deviation distance that is not present or navigates is larger, left laser displacement sensor LSL and right laser displacement sensor LSR collective effects are sentenced
Disconnected direction of advance moves along a straight line as pipe robot at a distance from the tube wall of left and right and provides navigation foundation, front laser displacement
Sensor LSF, which is provided according to and stopped for the differentiation of pipe robot advance barrier, does criterion.
In order to improve the stability of pipe robot walking navigation during closed conduit, the adjust automatically of posture is realized
And independent navigation ability, the present invention add three axis accelerometer A1 in natural gas line robot servo hardware system.
Whole during pipe robot walks pipeline to open three axis accelerometer A1, three axis accelerometer A1 is used for measuring pipeline machine
The angular acceleration of three directions of advance of people, controller obtain its angle of inclination according to the angular acceleration measured by continuous integral.
When the posture of pipe robot changes more than setting threshold values, in a new sampling period controller just immediately to its position
Compensation is set, pipe robot is avoided because tilting generation that is excessive and translating into phenomenon, to improve its quick row in the process of walking
Walk stability when navigating；If carrying out continuous integral to three axis accelerometer A1, and it is transformed in navigational coordinate system, is managed
Pipeline robot can obtain its acceleration in navigational coordinate system in closed conduit independent of any external information
The information such as degree, speed, yaw angle and position, generated navigation information continuity is good and noise is very low, greatly enhances
The autonomous inertial navigation ability of pipe robot.
Synchronous belt T transmissions are that the closed ring crawler belt and corresponding belt wheel institute group of equidistant tooth are equipped with by an inner peripheral surface
At.When movement, be meshed with tooth with the tooth socket of belt wheel transmission movement and power, is a kind of engaged transmission, thus is passed with gear
Dynamic, chain drive and Belt Drive various advantages.There is accurate transmission ratio, no slippage can get constant for synchronous belt K transmissions
Speed 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 two axis, six wheel drive mode using synchronous belt technology.
The present invention has developed one kind by two rare-earth permanent-magnetic synchronous electricity to solve the problems, such as that domestic pipeline robot exists
Six wheel wireless transmission three core natural gas tube pipeline robots of crawler type of machine differential driving, the servo of two rare earth permanent-magnet synchronization motors
Control algolithm is completed by FPGA, increases the rapidity of system-computed, and four auxiliary wheels are electric with left and right driving respectively by synchronous belt
Machine mechanical linkages, for multiple wheels of left and right sides respectively by crawler belt mechanical linkages, the servo-drive system based on two axis direct current generators is CCD
Image capturing system provides positioning function, and then natural gas tube pipeline robot carries out inspection large size naturally by its carry sensors
Feed channel.
The present invention has independently invented under the premise of absorbing external Dynamic matrix control thought based on the complete of ARM+ FPGA+DSP
New three nuclear control pattern.Controller principle figure such as Fig. 1 of this secondary design：Controller is realized using ARM as processor core by FPGA
The SERVO CONTROL of two axis permanent magnet synchronous motors and two axis direct current generators, DSP realize the real-time processing of Image Acquisition digital signal simultaneously
It is communicated with ARM, ARM is freed in complicated work, realizes that the real time position of two axis three-phase permanent magnet synchronous motors is adopted
Collection, and DSP interrupt is responded, realize 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, is based on ARM master
Motion control program is detected and is wirelessly transferred based on DSP from motion control program, based on Hall effect pipe damage, described
Host computer procedure further include pipeline read, position positioning and power information, it is described based on ARM main motions control program also wrap
Include based on two axis permanent magnet synchronous motor SERVO CONTROLs of FPGA, data storage and I/O controls, it is described based on DSP from motion control
Program further includes based on two axis direct current generator SERVO CONTROLs of FPGA and being based on DSP Image Acquisition, described based on Hall effect pipe
Road fault localization is wirelessly transferred and is connected respectively with based on Hall effect pipeline inspection collecting unit and wireless device communication.
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 arithmetic speed, ensure the stability and reliability of automatic pipeline robot system, the present invention is in the control based on ARM
FPGA and digital signal processor DSP are introduced in device, form the completely new three nuclear control device based on ARM+ FPGA+DSP, this control
Device fully considers effect of the battery in this system, the maximum two axis permanent magnet synchronous motor of workload in control system and two axis
Direct current generator servo-drive system gives FPGA completions, and pipeline reading, position positioning and power information etc. are given ARM processing, fully sent out
The relatively fast feature of ARM data processing speeds is waved, and the functions such as image data acquiring and storage give DSP completions, thus
The division of labor of ARM, FPGA and DSP are realized, while can also be communicated between three, carries out data exchange and calling in real time.
As shown in figure 4, for the tri- nuclear control devices of ARM+ FPGA+DSP designed herein, under power-on state, ARM
First to robot battery SOC（State-of-charge）Judged, if battery power is relatively low, controller can send out alarm signal；Such as
Fruit battery power is higher, first by main website by wireless device information inputs such as inspection natural gas line length and radius to ARM,
Then automatic conduit robot is introduced into self-locking state to pipe detection mouth, robot, and inlet valve F1 is waited for open, when
After front laser displacement sensor LSF determines that valve is opened, pipe robot enters buffer area to be checked, then inlet valve F1
It closes, inlet valve F2 is opened, and pipe robot enters pipe detection region；The image capturing system of pipe robot carrying,
Humidity collection system and pipe damage detection device, wireless device are opened, and pipe robot is according to setting speed along inspection
Navigation sensor parameter is input to FPGA by route fast inspection, ARM, these navigation sensor parameters are converted into pipeline by FPGA
The PWM wave of robot permanent magnet synchronous motor X and permanent magnet synchronous motor Y under specified patrolled and examined track, realize two permanent magnet synchronous electrics
The real-time servo of machine controls；DSP realizes that two axis DC servo positioning systems make CCD effectively acquire duct size information in real time by FPGA
And store, if DSP has a question some position to inspection, will communicate by wirelessly sending out interrupt requests to main website and with ARM,
And by wireless device transmissions suspicious region image, sending out cutoff command by wireless control ARM makes pipe robot stop, then
Main website realizes the acquisition of CCD secondary images and fault localization by wireless device, and is recorded and stored in real time by DSP.
Referring to Fig.1, Fig. 2, Fig. 3 and Fig. 4, specific function are realized as follows：
1）After pipe robot power supply opening, ARM can judge battery SOC, if battery SOC is relatively low, ARM will
FPGA is forbidden to work, two permanent magnet synchronous motors PWM wave is blocked, while alarm sensor will work and send out alarm signal,
ARM is sent out to master station by wireless device and replaces power interruptions request；If battery SOC is normal, pipe robot, which enters, waits for work
Make state, waits for work order；
2）Master station has called the roll of the contestants in athletic events the right duct length of weather, radius and pipeline topographic map, last time information by wireless device
It is transferred to ARM, then the starting end of wireless device conduit robot to pipe detection, for precision navigation pipe robot
Walking in closed conduct, ARM first turn on inertial navigation pattern of the pipe robot based on three axis accelerometer；
3）The ARM of pipe robot begins through magnetic navigation sensor ME1 and reads area navigation magnetic stripe, magnetic navigation sensor
For the value of feedback of ME1 compared with actual set central value, this deviation is inputed to FPGA by ARM, and FPGA converts this straggling parameter
For the pipe robot distance that permanent magnet synchronous motor X and permanent magnet synchronous motor Y to be run under specified patrolled and examined track, speed and add
Speed, FPGA is then fed back in conjunction with the current feedback of motor, photoelectric encoder and the feedback of three axis accelerometer, is watched through inside
It takes control algolithm and obtains the PWM wave control signal of two permanent magnet synchronous motors control, keep pipe robot slow along navigation magnetic stripe
Speed is advanced, and adjust the pid parameter of internal SERVO CONTROL program in real time according to peripheral environment FPGA, make system easily realize be segmented P,
PD, PID control and nonlinear PID controller；Front laser displacement sensor LSF is by work during pipe robot advances,
ARM detects pipe robot and front entrance valve F1 distance D in real time, then allows pipe by FPGA within the scope of stably stop
Pipeline robot automatic stopping, then original place self-locking；
4）When front, laser displacement sensor LSF detects that inlet valve F1 is opened, pipe robot will be opened automatic
Cruise mode, the distance that controller ARM moves real-time record pipe robot along magnetic stripe, when determine robot completely into
Behind region to be checked, inlet valve F1 will be again switched off, after natural gas leakage device detects that inlet valve F1 is completely closed, entrance
Valve F2 will be opened, and the state of secondary judgement front entrance valve F2 is determined front by front laser displacement sensor LSF at this time
After 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, control device of wireless will open ccd image acquisition system by DSP
System, DSP start two axis DC servo positioning systems simultaneously；ARM first according to the feedback of magnetic navigation sensor ME1, reads pipe machine
The numerical value of device people actual location information and three axis accelerometer A1 determines pipe robot then compared with setting position
Deviate centre distance and inclined angle, this deviation signal of ARM input to FPGA, this straggling parameter is converted into pipeline by FPGA
Robot permanent magnet synchronous motor X and permanent magnet synchronous motor Y distance, speed and acceleration to be run under specified patrolled and examined track,
FPGA is then fed back in conjunction with the current feedback of motor, photoelectric encoder and the feedback of three axis accelerometer, through internal servo control
Algorithm processed obtains the PWM wave control signal of two permanent magnet synchronous motors control, and adjusts pipeline machine in real time by driving circuit
People's posture makes pipe robot stable operation in magnetic stripe immediate vicinity, if master station finds pipeline by the acquisition image of feedback
Robot deviates from navigation track by a relatively large margin, by by the posture of the preferential Calibration pipe robot of control device of wireless, simultaneously
According to peripheral environment, FPGA adjusts the pid parameter of internal SERVO CONTROL program in real time, and system is made easily to realize segmentation P, PD, PID
Control and nonlinear PID controller；ARM and the air line distance that recorder people has run in real time, distance correction sensor S moment
It detects ground and corrects mark, once reading correcting device, the positional distance information of ARM records will be believed with the position for correcting mark
Subject to breath, the caused site error of robot when walking is eliminated；
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 will be communicated by control device of wireless and master station, and left laser displacement passes
Sensor LSL and right laser displacement sensor LSR will open work, the two by the distance input measured to ARM, ARM then with set
Definite value compares to obtain off-centered position, this deviation signal is inputed to FPGA by ARM, and FPGA converts this straggling parameter
For the pipe robot distance that permanent magnet synchronous motor X and permanent magnet synchronous motor Y to be run under specified patrolled and examined track, speed and add
Speed, FPGA is then fed back in conjunction with the current feedback of motor, photoelectric encoder and the feedback of three axis accelerometer, is watched through inside
It takes control algolithm and obtains the PWM wave control signal of two permanent magnet synchronous motors control, and pipeline is adjusted by driving circuit in real time
Robot pose makes pipe robot stable operation near pipeline planar central, according in peripheral environment FPGA in real time adjustment
The pid parameter of portion's SERVO CONTROL program makes system easily realize segmentation P, PD, PID control and nonlinear PID controller；ARM is real-time
The air line distance that recorder people has run, distance correction sensor S moment detect ground and correct mark, repaiied once reading
Equipment, ARM record positions range information to be subject to correct mark location information, if pipe robot is in walking process
In misread ground and correct mark, main website will be communicated by radio transmitting device and ARM, and the position letter of modification robot automatically
Breath eliminates site error when robot ambulation；
7）In pipe robot motion process, the CCD moment in Image Acquisition opens, DSP and real-time storage CCD acquisitions
The image arrived, DSP are compared the image of acquisition with the standard pipe information of setting, if the appearance of the two comparison result is larger
Error, 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 vertical
DSP interrupt is responded, and allows pipe robot to stop by FPGA, DSP passes through three closed-loop direct servo control processing procedures inside FPGA
Sequence adjusts the positions output positioning CCD of motor A and motor B, and ccd image acquisition center is made to be directed at doubtful picture centre, CCD bis- times
Acquire duct size information and by radio transmitting device real-time Transmission, main website analyzes the suspicious region in real time, and DSP stores the figure bis- times
Picture, it is doubtful be disposed after wireless control reopen pipe robot, make it 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, in order to prevent maloperation, ARM sends out interrupt requests by wireless device to main website immediately, and passes through
The PWM wave of SERVO CONTROL program active accommodation two permanent magnet synchronous motors X and motor Y control signal inside FPGA, reduce pipeline
The speed of robot makes it at a slow speed by the region having a question, and adjusts internal SERVO CONTROL program in real time according to peripheral environment FPGA
Pid parameter, so that system is easily realized segmentation P, PD, PID control and nonlinear PID controller；ARM is sent out to DSP immediately simultaneously
Interrupt requests, DSP make an immediate response ARM interruptions, pass through three closed-loop direct SERVO CONTROL programs inside FPGA and adjust motor A and motor
The output of B makes it position the positions CCD, so that ccd image acquisition center is directed at doubtful water images center, and increase the acquisition of CCD pipelines
The comparison of liquid water in information, DSP stores the doubtful image of steam and actual position information in the region, and is filled by being wirelessly transferred
Set real-time Transmission, main website analyzes the suspicious region in real time, confirm it is errorless after, DSP stores the image and location information bis- times.Main website
Restart ARM by wireless device, control pipeline robot continues to move ahead, and after by suspicious region, ARM and FPGA is communicated, and
Signal is controlled by the PWM wave of SERVO CONTROL program active accommodation two permanent magnet synchronous motors X and motor Y inside FPGA, is restored
The speed of pipe robot makes its normal inspection pipeline；
9）In pipe robot motion process, the front displacement sensor LSF moment opens, and ARM handles front position in real time
Confidence ceases, and when there is anomalies in front of conduit running, abnormal, ARM and FPGA will occur in front displacement sensor LSF probe values
Communication, and letter is controlled by the PWM wave of SERVO CONTROL program active accommodation two permanent magnet synchronous motors X and motor Y inside FPGA
Number, reducing the speed of pipe robot makes it drive towards barrier at a slow speed, adjusts internal servo control in real time according to peripheral environment FPGA
The pid parameter of processing procedure sequence makes system easily realize segmentation P, PD, PID control and nonlinear PID controller；ARM is immediately to total simultaneously
It stands and DSP sends out interrupt requests, DSP makes an immediate response ARM interruptions, and passes through three closed-loop direct SERVO CONTROL program tune inside FPGA
The output of whole motor A and motor B makes it position the positions CCD, and ccd image acquisition center is made to be directed at doubtful obturator picture centre,
CCD secondary acquisitions duct size information and by radio transmitting device real-time Transmission, main website analyze the suspicious region, DSP storages in real time
The doubtful image of blocking and actual position information in the region, since the pipe robot of this secondary design is more wheel crawler structures,
So ARM control pipelines robot can be moved ahead by clearing the jumps and can continue, after by suspicious region, ARM with
FPGA is communicated, and by the PWM wave of SERVO CONTROL program active accommodation two permanent magnet synchronous motors X and motor Y inside FPGA, extensive
The speed of multiple pipe robot makes its normal inspection pipeline；
10）In pipe robot motion process, the pipeline inspection sensor based on Hall effect is by work, when pipeline is transported
There is exception in row front probe value, and ARM and FPGA is communicated, and passes through SERVO CONTROL program two permanent magnetism of active accommodation inside FPGA
The PWM wave of synchronous motor X and motor Y control signal, and reducing the speed of pipe robot, so that it is driven towards pipe damage at a slow speed doubtful
Region adjusts the pid parameter of internal SERVO CONTROL program according to peripheral environment FPGA in real time, make system easily realizes be segmented P,
PD, PID control and nonlinear PID controller；ARM sends out interrupt requests to master station and DSP immediately simultaneously, and DSP makes an immediate response in ARM
It is disconnected, and the positions CCD are positioned by the output of three closed-loop direct SERVO CONTROL programs adjustment motor A and motor B inside FPGA, make
Ccd image acquires center alignment suspicious lesion pipeline position, and CCD secondary acquisitions duct size information is simultaneously real-time by radio transmitting device
Transmission, main website analyze the suspicious region in real time, and DSP storages find doubtful pipe damage image, such as do not find pipe damage image,
DSP will record suspicious lesion actual position information, and mark outer damage.After by suspicious region, ARM and FPGA is communicated,
And by the PWM wave of SERVO CONTROL program active accommodation two permanent magnet synchronous motors X and motor Y inside FPGA, restore pipe machine
The speed of device people makes its normal inspection pipeline；
11）In pipe robot motion process, ARM can store the location of passed through pipeline the moment and either pass through
The reference point crossed, FPGA this location parameter be converted into pipe robot under specified patrolled and examined track permanent magnet synchronous motor X and
Distance, speed and the acceleration that permanent magnet synchronous motor Y to be run, FPGA and then the current feedback in conjunction with motor, photoelectric coding
Device is fed back and the feedback of three axis accelerometer, and the PWM wave of two permanent magnet synchronous motors control is obtained through internal servo control algorithm,
Pipe robot is set quickly to move ahead according to setting speed, while according to peripheral environment, FPGA adjusts internal servo control processing procedure in real time
The pid parameter of sequence makes system easily realize segmentation P, PD, PID control and nonlinear PID controller；
12）During the motion if asking occurs endless loop and will send out interruption to ARM in the solution of pipe robot detective distance
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 sets 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 the speed of permanent-magnet synchronous X-motor and motor Y, pipeline machine in real time
People's inspection since new position；
13）Photoelectric encoder on permanent magnet synchronous motor X, permanent magnet synchronous motor Y, direct current generator A and direct current generator B
Its position signal A and position signal B can be exported, the position signal A pulses of photoelectric encoder and B pulsed logic states often change one
It is secondary, ARM（Or DSP）Interior location register can be according to permanent magnet synchronous motor X, permanent magnet synchronous motor Y（Direct current generator A and direct current
Motor B）Traffic direction add 1 either subtract 1；The position signal A pulses and B pulses and Z pulses of photoelectric encoder are low simultaneously
When level, an INDEX signal is just generated to ARM（Or DSP）Internal register records the absolute position of permanent magnet synchronous motor,
It is then convert into specific location of the pipe robot in pipe detection system；
14）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 outputs of permanent magnet synchronous motor X and permanent magnet synchronous motor Y are adjusted by three closed loop servo-control system programs inside FPGA,
Pipe robot drives towards exit under wireless control with slower speed, ensures that robot can smoothly arrive exit；
15）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 to be based on vector controlled, it is dry that FPGA can be easy to compensate this
It disturbs, reduces influence of the motor torque to crusing robot motion process；
16）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 that robot waits for completely into outlet
After examining region, outlet valve F3 will be closed, and natural gas suction unit will aspirate the natural gas situation in region to be checked, when natural gas is let out
When dew device is not detected region to be checked and has natural gas residual, outlet valve F4 will be opened, at this time in front of laser displacement sensor
LSF is by the state of secondary judgement front exit valve F4, and after determining that front exit valve F openings are errorless, pipe robot is driven out to
Pipeline is detected, detection terminal is returned to, waits for next sense command.
The invention has the advantages that：
1：In pipe robot motion process, the effect of battery in this system has been fully considered, be based on ARM+
The FPGA+DSP dual-core controller moment is all being monitored its state and operation, both avoids due to heavy-current discharge and causes
Lithium ion battery overaging phenomenon generation, and the energy of battery can be effectively predicted, be provided for pipe robot inspection
It is effectively ensured；
2：SERVO CONTROL and two axis of two permanent magnet synchronous motors of pipe robot based on vector controlled are handled by FPGA
The SERVO CONTROL of direct current generator so that control is fairly simple, substantially increases arithmetic speed, solves control algolithm and occupies ARM
With dsp operation period longer problem, 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 pipe robot volume and weight；
4：The pipe robot navigation system of the present invention is using permanent magnet synchronous motor instead of normal in traditional robot system
Stepper motor, direct current generator, DC brushless motor, due to its small volume, efficiency is higher so that pipe robot volume
It can further reduce, energy utilization rate greatly improves；
5：Since permanent magnet synchronous motor uses vector controlled so that speed adjustable range is wider, and contrast of regulating speed is steady, even if
The pulsating torque of low-speed stage motor is also very small, is conducive to the dynamic property of raising system；
6：Since this controller is using the mass data and algorithm of the DSP acquisition of processing figure and storage, two are handled by FPGA
The SERVO CONTROL of axis permanent magnet synchronous motor and two axis direct current generators frees ARM from hard work amount, effectively prevents
" run and fly " of program is stopped, anti-interference ability greatly enhances；
7：In control, FPGA controller can adjust two axis permanent magnet synchronous electrics in due course according to robot periphery operating condition
Pid parameter inside machine and two axis direct current generator servos realizes segmentation P, PD, PID control and nonlinear PID controller, makes system
Meet real-time working condition requirement to change；
8：Equipped with humidity collection system on pipe robot, the humidity exceptions area in tunnel can be detected easily
Domain can effectively find the presence of pipeline water droplet；
9：Equipped with image capturing system on pipe robot, it can detect that pipeline internal pipeline corrosion etc. is different easily
Reason condition, and effectively store its image；
10：It can make master station's staff's accurate judgement suspicious region, while wireless remote control skill 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 inspection after making pipe robot completion task
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 pipe robot, can detect easily
The abnormal conditions such as pipeline external corrosive pipeline and damage, are conducive to pipeline of pinpointing the problems early；
13：The addition of three axis accelerometer A1 can effectively detect the angle of inclination that pipe robot deviates pipeline plane, ARM
It can be monitored and accordingly be adjusted by FPGA the PWM wave output of permanent magnet synchronous motor, and moment communication master the moment to this angle
It stands, an emergency situation is encountered can be taken over control by master station, 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 pipe robot；
15：The addition of synchronous belt technology makes six wheels all have power, while the addition of crawler belt effectively increases pipeline
The area that robot contacts in the duct allows robot effectively by the way that with obstruction object area, it is suitable to improve environment
Ying Xing；
16：Two axis ccd images acquisition positioning 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.
It to sum up tells, three core of wireless transmission, four axis caterpillar type high-speed natural gas line robot control system of the invention,
In order to improve the utilization rate of the energy and reduce robot volume, this system efficiency and the higher permanent magnet synchronous electric of power density
Machine is instead of motors such as stepper motor, direct current generators；In order to improve arithmetic speed, ensure the stabilization of automatic pipeline robot system
Property and reliability, the present invention introduce FPGA and digital signal processor DSP in the controller based on ARM, formed and be based on ARM+
The completely new three nuclear control device of FPGA+DSP, this controller fully considers effect of the battery in this system, work in control system
The maximum two axis permanent magnet synchronous motor of work amount and two axis direct current generator servo-drive systems give FPGA completions, pipeline is read, position is fixed
ARM processing is given in position and power information etc., gives full play to the relatively fast feature of ARM data processing speeds, and image data is adopted
The functions such as collection and storage give DSP completions, thereby realize the division of labor of ARM, FPGA and DSP, while can also between three
It is communicated, carries out data exchange and calling in real time.
Example the above is only the implementation of the present invention is not intended to limit the scope of the invention, every to utilize this hair
Equivalent structure or equivalent flow shift made by bright description is applied directly or indirectly in other relevant technology necks
Domain is included within the scope of the present invention.
Claims (2)
1. a kind of three core of wireless transmission, four axis caterpillar type high-speed natural gas line robot control system, which is characterized in that including
Battery, permanent magnet synchronous motor X, permanent magnet synchronous motor Y, direct current generator A, direct current generator B, is based on ccd image acquisition list at controller
Member, humidity collection unit, is based on Hall effect pipeline inspection collecting unit, wireless device and pipe machine at image storage unit
The electric current driving controller is provided separately in device people, the battery, and the controller uses three nuclear control devices, including
ARM, FPGA and DSP, described ARM, FPGA and DSP carry out communication by wireless device and connect, described to be adopted based on ccd image
Collect unit and image storage unit with DSP and FPGA communication connections, the humidity collection unit and based on Hall effect pipe
Collecting unit is detected a flaw with ARM and FPGA communication connections in road, and the ARM and FPGA send out first control signal and second respectively
Signal is controlled, controls the permanent magnet synchronous motor Y and permanent magnetism respectively by the first control signal and second control signal
The movement of control pipeline robot again after the signal synthesis of synchronous motor X, the DSP and FPGA send out third control respectively
Signal and the 4th control signal, by the described third control signal and the 4th control signal control respectively the direct current generator A,
Connection is communicated with based on ccd image collecting unit after the signal synthesis of direct current generator B, the pipe robot includes machine
People's shell, laser displacement sensor, magnetic navigation sensor, distance correction sensor, three axis accelerometer and synchronous belt, it is described
Laser displacement sensor be separately mounted to the front end of robot shell, the magnetic navigation sensor and distance correction sensor
It is arranged at the lower section on robot shell and positioned at laser displacement sensor, the synchronous belt is separately positioned on robot shell
The left and right sides of body are simultaneously connect with permanent magnet synchronous motor X and permanent magnet synchronous motor Y respectively, three axis accelerometer setting
On robot shell and between permanent magnet synchronous motor X and permanent magnet synchronous motor Y, the direct current generator A, direct current generator
B and wireless device are arranged on robot shell, and the laser displacement sensor includes front laser displacement sensor, a left side
Laser displacement sensor and right laser displacement sensor, the described front laser displacement sensor setting robot shell just before
The centre position of side, the left laser displacement sensor and right laser displacement sensor are angularly disposed in robot shell respectively
The left and right ends in front, the first control signal, second control signal are PWM wave control signal, and the ARM is adopted
Use STM32F746；The FPGA uses QUICKLOGIC；The DSP uses TMS320F2812, the synchronous belt to adopt
It is the closed ring crawler belt and corresponding belt wheel institute group that equidistant tooth is equipped with by an inner peripheral surface with two axis, six wheel drive mode
At the natural gas line robot control system is additionally provided with host computer procedure, based on ARM main motions control program, base
It detects and is wirelessly transferred from motion control program, based on Hall effect pipe damage in DSP, the host computer procedure also wraps
Include pipeline read, position positioning and power information, it is described based on ARM main motions control program further include based on two axis of FPGA forever
Magnetic-synchro motor servo control, data storage and I/O controls, described based on DSP further includes being based on from motion control program
Two axis direct current generator SERVO CONTROLs of FPGA and be based on DSP Image Acquisition, it is described based on Hall effect pipe damage detection wireless
It transmits and is connected respectively with based on Hall effect pipeline inspection collecting unit and wireless device communication, the natural gas line machine
Device people's control system further includes photoelectric encoder, and the photoelectric encoder is separately mounted to permanent magnet synchronous motor X, permanent-magnet synchronous
On motor Y, direct current generator A and direct current generator B.
2. high speed natural gas line robot control system according to claim 1, which is characterized in that the battery is adopted
Use lithium ion battery.
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| CN112233287B (en) * | 2020-10-19 | 2023-01-24 | 北京安恒利通科技股份公司 | Automatic unlocking method of intelligent lock and intelligent lock system |
| CN112730599A (en) * | 2020-12-27 | 2021-04-30 | 北京工业大学 | Buried pipeline damage harmonic magnetic field detection system based on FPGA and implementation method |
| CN114738597B (en) * | 2022-04-15 | 2023-09-05 | 哈工大机器人（合肥）国际创新研究院 | Control system of pipeline water-carrying detection robot |
| CN116360397B (en) * | 2023-03-28 | 2024-03-19 | 中国电力科学研究院有限公司 | Whole vehicle control system and method for new energy rail locomotive |
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| CN105204502A (en) * | 2015-08-24 | 2015-12-30 | 铜陵学院 | Dual-core medium-speed six-wheel little mouse exploration controller and control method thereof |
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| CN104827469B (en) * | 2013-10-10 | 2016-10-19 | 精工爱普生株式会社 | Robot controller, robot system, robot and robot control method |
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| CN101887037A (en) * | 2010-04-27 | 2010-11-17 | 丹东奥龙射线仪器有限公司 | Wheel-type X-ray flaw detection robot device |
| CN103273489A (en) * | 2013-05-10 | 2013-09-04 | 上海大学 | Robot control system and method based on principal and subordinate teleoperation mechanical arm |
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