CN105856238A - Four-core six-axis wireless-transmission track type rapid natural gas pipeline robot control system - Google Patents
Four-core six-axis wireless-transmission track type rapid natural gas pipeline robot control system Download PDFInfo
- Publication number
- CN105856238A CN105856238A CN201610406257.6A CN201610406257A CN105856238A CN 105856238 A CN105856238 A CN 105856238A CN 201610406257 A CN201610406257 A CN 201610406257A CN 105856238 A CN105856238 A CN 105856238A
- Authority
- CN
- China
- Prior art keywords
- synchronous motor
- permagnetic synchronous
- robot
- arm
- dsp
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- VNWKTOKETHGBQD-UHFFFAOYSA-N methane Chemical compound C VNWKTOKETHGBQD-UHFFFAOYSA-N 0.000 title claims abstract description 102
- 239000003345 natural gas Substances 0.000 title claims abstract description 51
- 230000001360 synchronised effect Effects 0.000 claims abstract description 129
- 238000000034 method Methods 0.000 claims abstract description 40
- 238000004891 communication Methods 0.000 claims abstract description 34
- 238000003860 storage Methods 0.000 claims abstract description 27
- 238000006073 displacement reaction Methods 0.000 claims description 55
- 230000033001 locomotion Effects 0.000 claims description 34
- 230000006378 damage Effects 0.000 claims description 21
- 230000005355 Hall effect Effects 0.000 claims description 17
- 238000001514 detection method Methods 0.000 claims description 16
- 230000005540 biological transmission Effects 0.000 claims description 15
- 230000002093 peripheral effect Effects 0.000 claims description 14
- 238000007689 inspection Methods 0.000 claims description 12
- 238000003786 synthesis reaction Methods 0.000 claims description 6
- HBBGRARXTFLTSG-UHFFFAOYSA-N Lithium ion Chemical compound [Li+] HBBGRARXTFLTSG-UHFFFAOYSA-N 0.000 claims description 4
- 229910001416 lithium ion Inorganic materials 0.000 claims description 4
- 238000013500 data storage Methods 0.000 claims description 3
- 230000008569 process Effects 0.000 abstract description 30
- 230000006870 function Effects 0.000 description 12
- 230000001133 acceleration Effects 0.000 description 9
- 230000000694 effects Effects 0.000 description 8
- 238000005516 engineering process Methods 0.000 description 8
- 238000012545 processing Methods 0.000 description 8
- 229910052761 rare earth metal Inorganic materials 0.000 description 8
- 150000002910 rare earth metals Chemical class 0.000 description 8
- 230000004308 accommodation Effects 0.000 description 7
- 230000002159 abnormal effect Effects 0.000 description 6
- 230000007246 mechanism Effects 0.000 description 6
- 230000008901 benefit Effects 0.000 description 5
- 239000007789 gas Substances 0.000 description 5
- 238000012544 monitoring process Methods 0.000 description 5
- 238000011160 research Methods 0.000 description 5
- 230000004044 response Effects 0.000 description 5
- 238000012937 correction Methods 0.000 description 4
- 238000010586 diagram Methods 0.000 description 4
- 230000011664 signaling Effects 0.000 description 4
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 4
- 238000013461 design Methods 0.000 description 3
- 238000004880 explosion Methods 0.000 description 3
- 230000004907 flux Effects 0.000 description 3
- 230000010354 integration Effects 0.000 description 3
- 230000004807 localization Effects 0.000 description 3
- CURLTUGMZLYLDI-UHFFFAOYSA-N Carbon dioxide Chemical compound O=C=O CURLTUGMZLYLDI-UHFFFAOYSA-N 0.000 description 2
- 238000004458 analytical method Methods 0.000 description 2
- 230000004888 barrier function Effects 0.000 description 2
- 238000006243 chemical reaction Methods 0.000 description 2
- 238000011161 development Methods 0.000 description 2
- 230000018109 developmental process Effects 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- 230000003902 lesion Effects 0.000 description 2
- 230000007774 longterm Effects 0.000 description 2
- 239000000696 magnetic material Substances 0.000 description 2
- 239000003550 marker Substances 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 239000000523 sample Substances 0.000 description 2
- 238000004088 simulation Methods 0.000 description 2
- 238000004804 winding Methods 0.000 description 2
- RYGMFSIKBFXOCR-UHFFFAOYSA-N Copper Chemical compound [Cu] RYGMFSIKBFXOCR-UHFFFAOYSA-N 0.000 description 1
- RWSOTUBLDIXVET-UHFFFAOYSA-N Dihydrogen sulfide Chemical compound S RWSOTUBLDIXVET-UHFFFAOYSA-N 0.000 description 1
- 235000017899 Spathodea campanulata Nutrition 0.000 description 1
- 230000009471 action Effects 0.000 description 1
- 230000006978 adaptation Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000000903 blocking effect Effects 0.000 description 1
- 210000004556 brain Anatomy 0.000 description 1
- 230000001680 brushing effect Effects 0.000 description 1
- 229910002092 carbon dioxide Inorganic materials 0.000 description 1
- 239000001569 carbon dioxide Substances 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000004140 cleaning Methods 0.000 description 1
- 230000009194 climbing Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000001276 controlling effect Effects 0.000 description 1
- 229910052802 copper Inorganic materials 0.000 description 1
- 239000010949 copper Substances 0.000 description 1
- 230000007423 decrease Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000004069 differentiation Effects 0.000 description 1
- 239000000428 dust Substances 0.000 description 1
- 230000008030 elimination Effects 0.000 description 1
- 238000003379 elimination reaction Methods 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 238000003912 environmental pollution Methods 0.000 description 1
- 238000005530 etching Methods 0.000 description 1
- 230000005284 excitation Effects 0.000 description 1
- 239000002360 explosive Substances 0.000 description 1
- 229910000037 hydrogen sulfide Inorganic materials 0.000 description 1
- 230000001771 impaired effect Effects 0.000 description 1
- 239000012535 impurity Substances 0.000 description 1
- 230000002452 interceptive effect Effects 0.000 description 1
- 238000005461 lubrication Methods 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 239000011159 matrix material Substances 0.000 description 1
- 230000005055 memory storage Effects 0.000 description 1
- 229910001172 neodymium magnet Inorganic materials 0.000 description 1
- 230000010349 pulsation Effects 0.000 description 1
- 230000001105 regulatory effect Effects 0.000 description 1
- 238000005096 rolling process Methods 0.000 description 1
- 238000005070 sampling Methods 0.000 description 1
- 238000009987 spinning Methods 0.000 description 1
- GOLXNESZZPUPJE-UHFFFAOYSA-N spiromesifen Chemical compound CC1=CC(C)=CC(C)=C1C(C(O1)=O)=C(OC(=O)CC(C)(C)C)C11CCCC1 GOLXNESZZPUPJE-UHFFFAOYSA-N 0.000 description 1
- 230000033772 system development Effects 0.000 description 1
- 230000009466 transformation Effects 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
- B25J9/161—Hardware, e.g. neural networks, fuzzy logic, interfaces, processor
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/006—Controls for manipulators by means of a wireless system for controlling one or several manipulators
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/005—Manipulators mounted on wheels or on carriages mounted on endless tracks or belts
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
- B25J9/1697—Vision controlled systems
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
- F16L55/00—Devices or appurtenances for use in, or in connection with, pipes or pipe systems
- F16L55/26—Pigs or moles, i.e. devices movable in a pipe or conduit with or without self-contained propulsion means
- F16L55/28—Constructional aspects
- F16L55/30—Constructional aspects of the propulsion means, e.g. towed by cables
- F16L55/32—Constructional aspects of the propulsion means, e.g. towed by cables being self-contained
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
- G05D1/0248—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means in combination with a laser
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0259—Control of position or course in two dimensions specially adapted to land vehicles using magnetic or electromagnetic means
- G05D1/0263—Control of position or course in two dimensions specially adapted to land vehicles using magnetic or electromagnetic means using magnetic strips
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
- F16L2101/00—Uses or applications of pigs or moles
- F16L2101/30—Inspecting, measuring or testing
Abstract
The invention discloses a four-core six-axis wireless-transmission track type rapid natural gas pipeline robot control system. A controller is a four-core controller and comprises ARM, IRMCK203, a DSP (digital signal processor) and MC51113 that are communicatively connected through a wireless device. Through the above-mentioned manner, a novel four-core control mode based on ARM, IRMCK203, DSP and MC51113 is independently developed, the controller uses ARM as processor cores, servo control of a four-axis synchronous motor is implemented by IRMCK203, the DSP processes image acquired digital signals in real time and cooperates with MC51113 to provide servo control of a two-axis direct current motor, ARM is freed from complex operation, DSP interruption is responded to, and data communication and real-time signal storage are achieved.
Description
Technical field
The present invention relates to the field of large-scale pipeline robot, particularly relate to a kind of four core six axles and be wirelessly transferred crawler type quick natural gas line robot control system.
Background technology
The pumped (conveying) medium of natural gas line belongs to material inflammable, explosive, the impurity such as the hydrogen sulfide contained in medium, carbon dioxide, free water, dust, makes the pipeline laid be in inside and outside etching condition, and the most internal congestion situations that can produce occurs.Adding the factors such as environment, geology, meteorology and hydrological disaster, tubing and design defect, operational error or even artificial destruction, the safety of pipeline is threatened by many factors.
On June 4th, 1989, one gas pipeline of the former Soviet Union leaks, and when two row pass through in the railway line to running a train outside distance leakage point 1 kilometer, train friction produces spark and causes the natural-gas blast of leakage, causing people more than 600 dead, hundreds of hectares of forests are burnt；In August, 2000, the gas pipeline generation gas explosion of one the 720mm bore in the southeast, New Mexico, causing fights the most greatly at least causes 10 people dead, place beyond more than 30 kilometers can see that huge fireball rushes to sky, and after blast, ground leaves long 25m, the hollow place of deep 6m together；The oil and gas pipeline of China the most repeatedly has an accident, and the accident such as pipeline generation explosion, leakage, stopping transportation not only causes huge property loss, and jeopardizes ecological environment.
Pipe robot is that one can be carried one or more sensors and operation machinery along pipe interior or outside walking automatically, or complete the electro-mechanical system of a series of pipeline operations under the control of operating personnel under computer controlled automatic.The research of pipe robot starts from eighties of last century the forties, to the seventies due to microelectric technique, computer technology, the development and progress of automatic technology, external pipeline robot technique has obtained fast development the beginning of the nineties, have developed many experimental prototypes, and achieve substantial amounts of achievement in research.
Patrol and examine natural gas line with pipe robot, be possible not only to improve the efficiency of pipe detection, and for improving working conditions, reduce labor intensity, improve operating efficiency, reduce operating cost, guarantee personal safety and suffer from highly important meaning.But domestic the most not using pipe robot to patrol and examine natural gas line, natural gas line blast happens occasionally, and causes huge economic loss and environmental pollution.
The natural gas tube pipeline robot that one performance is higher must possess following components:
1) image capturing system: image capturing system is it appeared that produced problem in pipeline, it is possible to provides pipeline impaired and congestion situations for staff, provides reliable basis for changing pipeline or cleaning pipeline；
2) damage acquisition system: damage acquisition system can find the abnormal conditions that pipe-line system outer wall occurs in time, it is to avoid pipeline and long-term breakage causes anti-pressure ability to weaken, ultimately result in natural gas and reveal in a large number and produce explosion accident generation；
3) humidity detection and obturator detect: if humidity is excessive, the pumped (conveying) medium of natural gas line is easily formed corrosive pipeline, and moieties can pile up generation congestion situations simultaneously；
4) motor: actuating motor is that the power of pipe robot implements parts, and it converts the energy of power supply in real time, performs the robot relevant walking motion in natural gas line according to the instruction of pipe robot microprocessor；
5) algorithm: algorithm is the soul of natural gas tube pipeline robot, owing to natural gas line is a pipeline closed, inner case is extremely complex, natural gas tube pipeline robot must use certain intelligent algorithm just a little can accurately arrive the most a bit in pipeline, form point-to-point patrolling and examining, and real-time storage gathers image, pipeline steam information, pipeline obstruction information, pipeline damage situations and damaged location information；
6) microprocessor: microprocessor is the core of natural gas tube pipeline robot, is the brain of natural gas tube pipeline robot；All of information in pipeline, is required for through microprocessor processes including the humidity in pipeline, congestion situations, pipe damage information and damage position information, motor status information, battery status information etc. and makes corresponding judgement；
7) wireless device: in order to find in time and the problem of process, automatic Pipeline robot must use wireless device, the IMAQ that real-time Transmission is patrolled and examined and damage collection result, and problem place can be determined by master station's secondary.
The domestic research to pipe robot is the most at the early-stage, is all to use monokaryon controller, is in the laboratory prototype design phase, has a certain distance from large-scale use, mainly face problems with:
(1) controlled technique influence, all of pipe robot all uses monokaryon controller, and the computing capability of controller is more weak, and pipe robot cannot quickly process real time environment, and robot ambulation speed is relatively low, and inspection pipeline speed is relatively slow, and less stable；
(2) for using the energy entrained by motor-driven pipe robot all to use chargeable storage; these batteries are all by forming high-voltage great-current energy resource system after simple series connection and parallel connection; the most unprotected circuit; life-span is shorter, often occurs the abnormal work even interfering with pipe robot during normal work；
(3) for using the pipe robot of stepper motor or DC motor Driver, being affected by motor own efficiency, energy utilization rate is relatively low, causes robot displacement in pipeline shorter；
(4) for using the pipe robot of stepper motor or DC motor Driver, being affected by power of motor density, owing to the motor volume used is the biggest, the volume ultimately resulting in robot is bigger, heavier-weight, has had a strong impact on the range of pipe robot；
(5) either based on vector controlled or SERVO CONTROL based on orientation on rotor flux algorithm permagnetic synchronous motor, in addition to carrying out coordinate transform repeatedly and inverse transformation, it is also performed to the closed-loop control of electric current and speed, thus realizes more complicated and requirement of real-time is higher；Using DSP technology or ARM technology and realize with software mode, system development cycle is long, and the processor time that this algorithm takies is the most, have impact on the process function of DSP or ARM；
(6) pipe robot motion state oneself adjustment capability is poor, controlled mode affects, robot attitude parameter identification in pipeline is poor, robot None-identified oneself's plane and the angle of pipeline principal plane, cause, during robot ambulation, inclination occurs, overturn the most sometimes, cause mission failure；
(7) for there being the natural gas line of obstruction, common wheeled robot is less with contact area of ground, and obstacle climbing ability is more weak, the most even cannot clear the jumps, and finally cannot patrol and examine task；
(8) the most most of pipe robot, poor to the Context awareness in pipeline, is all that the collection image stored by post analysis carrys out analysis conduit situation, and real-time condition distinguishes poor；
(9) for the type of drive only with two power wheels, the power adjustment capability of robot is poor, in order to meet the acceleration under complex state, the power making single driving motor is bigger, the space not only taken up is bigger, and sometimes cause the phenomenon of " low load with strong power " to occur when some relative requirements energy are relatively low, it is impossible to meet power demand requirement under system Biodiversity operating mode so that dynamic performance reduces；
(10) speed and the drift angle of robot is obtained by integration and quadratic integral due to accelerometer, owing to integration repeatedly makes system position in closed conduit sometimes there will be certain mistake,
The stator of permasyn morot and common electrically excited synchronous motor have identical stator structure, excitation pole and the Exciting Windings for Transverse Differential Protection of synchronous motor is simply instead of on rotor using Nd-Fe-B rare earth permanent magnetic material as magnetic pole, the structure making motor is relatively simple, and eliminate easy out of order collector ring and brush, achieve non-brushing, improve the reliability of motor running.Because being not required to exciting current, therefore can save the copper loss of Exciting Windings for Transverse Differential Protection, greatly improving the efficiency of motor；The use of rare earth permanent-magnetic material makes power of motor density higher, so the volume of motor be can be made smaller, and the occasion that applicable volume requirement is higher.Permasyn morot is in addition to having obvious energy-saving effect, also there is the characteristic that rotating speed is accurate, noise is low, rare earth permanent-magnet synchronization motor based on rotor field-oriented or based on vector control system be capable of high accuracy, high dynamic performance, large-scale speed governing or location control, these characteristics make rare earth permanent-magnet synchronization motor be particularly suitable for being used in the robot control system that pipe robot these requirements are more special.
Crawler-type mobile mechanism is the expansion of wheeled locomotion mechanism, and crawler belt itself plays a part to pave the way continuously to wheel.Relative to ratcheting mechanism, there is plurality of advantages in crawler-type mobile mechanism, such as: bearing area is big, and grounding pressure is little；Resistance to rolling is little, passes through better performances；Off-road mobility is good；Having grouser on crawler belt bearing-surface, be difficult to skid, traction adhesion property is good, is conducive to playing bigger tractive force；Displacement crawler-type mobile mechanism is by changing the mechanism form of the position of crawler belt or crawler belt to reach to adapt to the requirement of varying environment, and the angle of two crawler belts can regulate, to adapt to different operation calibers.
Summary of the invention
The technical problem that present invention mainly solves is to provide a kind of four core six axles and is wirelessly transferred crawler type quick natural gas line robot control system, and independent research is based on ARM+IRMCK203+DSP+
The brand-new four nuclear control patterns of MC51113, controller is with ARM as processor core, the SERVO CONTROL of four axle synchronous motors is realized by IRMCK203, DSP realizes processing in real time and realizing the SERVO CONTROL of two axle direct current generators with MC51113 cooperation of IMAQ data signal, ARM is freed in the middle of complicated work, and respond DSP interrupt, it is achieved data communication and storage live signal.
nullFor solving above-mentioned technical problem，The technical scheme that the present invention uses is: provides a kind of four core six axles and is wirelessly transferred crawler type quick natural gas line robot control system，Including battery、Controller、Permagnetic synchronous motor X、Permagnetic synchronous motor Y、Direct current generator A、Direct current generator B、Permagnetic synchronous motor Z、Permagnetic synchronous motor R、Based on ccd image collecting unit、Image storage unit、Humidity collection unit、Based on Hall effect pipeline inspection collecting unit、Wireless device and pipe robot，Described battery is provided separately the controller described in electric current driving，Described controller uses four nuclear control devices，Including ARM、IRMCK203、DSP and MC51113，Described includes ARM、IRMCK203、DSP and MC51113 carries out communication connection by wireless device，Described is all connected with DSP and MC51113 communication based on ccd image collecting unit and image storage unit，Described humidity collection unit and being all connected with ARM and IRMCK203 communication based on Hall effect pipeline inspection collecting unit，Described ARM and IRMCK203 sends the first control signal respectively、Second control signal、5th control signal and the 6th control signal，By the first described control signal、Second control signal、5th control signal and the 6th control signal control described permagnetic synchronous motor Y respectively、Permagnetic synchronous motor X、The motion of pipe robot is controlled again after the signal syntheses of permagnetic synchronous motor Z and permagnetic synchronous motor R，Described DSP and MC51113 sends the 3rd control signal and the 4th control signal respectively，Described direct current generator A is controlled respectively by the 3rd described control signal and the 4th control signal、It is connected with based on ccd image collecting unit communication after the signal syntheses of direct current generator B.
In a preferred embodiment of the present invention, described battery uses lithium ion battery.
In a preferred embodiment of the present invention, described the first control signal, the second control signal all, the 5th control signal and the 6th control signal be PWM wave control signal.
In a preferred embodiment of the present invention, described ARM uses STM32F746；Described DSP uses TMS320F2812.
nullIn a preferred embodiment of the present invention，Described pipe robot includes robot housing、Laser displacement sensor、Magnetic navigation sensor、Left fork sensor、Right fork sensor、Three-axis gyroscope and Timing Belt，Described laser displacement sensor is separately mounted to the front end of robot housing，Described magnetic navigation sensor is arranged on robot housing and is positioned at the lower section of laser displacement sensor，Described left fork sensor and right fork sensor lay respectively at the two ends, left and right below magnetic navigation sensor，Described Timing Belt be separately positioned on robot housing limit, the left and right sides and respectively with permagnetic synchronous motor X、Permagnetic synchronous motor Y、Permagnetic synchronous motor Z and permagnetic synchronous motor R connects，Described three-axis gyroscope is arranged on robot housing and between permagnetic synchronous motor X and permagnetic synchronous motor Y，Described direct current generator A、Direct current generator B and wireless device are arranged on robot housing.
In a preferred embodiment of the present invention, described laser displacement sensor includes front laser displacement sensor, left laser displacement sensor and right laser displacement sensor, described front laser displacement sensor is arranged on the most angularly disposed two ends, left and right in robot housing dead ahead of the centre position in robot housing dead ahead, described left laser displacement sensor and right laser displacement sensor.
In a preferred embodiment of the present invention, described Timing Belt uses four axle eight wheel drive mode, an inner peripheral surface be provided with the closed ring crawler belt of equidistant tooth and corresponding belt wheel is formed.
In a preferred embodiment of the present invention, described natural gas line robot control system is additionally provided with host computer procedure, program is controlled based on ARM main motion, based on DSP from motion control program, detect based on Hall effect pipe damage and be wirelessly transferred, described host computer procedure also includes that pipeline reads, location, position and power information, described also includes based on IRMCK203 tetra-axle permagnetic synchronous motor SERVO CONTROL based on ARM main motion control program, data storage and I/O control, described also includes based on MC51113 two axle direct current generator SERVO CONTROL with based on DSP IMAQ based on DSP from motion control program, described based on the transmission of Hall effect pipe damage detection wireless and is connected with based on Hall effect pipeline inspection collecting unit and wireless device communication respectively.
In a preferred embodiment of the present invention, described natural gas line robot control system also includes that photoelectric encoder, described photoelectric encoder are separately mounted on permagnetic synchronous motor X, permagnetic synchronous motor Y, direct current generator A, direct current generator B, permagnetic synchronous motor Z and permagnetic synchronous motor R.
The invention has the beneficial effects as follows: four core six axles of the present invention are wirelessly transferred crawler type quick natural gas line robot control system, in order to the utilization rate improving the energy and the permagnetic synchronous motor reducing robot volume, native system efficiency and power density the highest instead of the motor such as stepper motor, direct current generator；In order to improve system acceleration request, system adds two lower-powered permagnetic synchronous motors and plays power-assisted effect, increases system dynamic characteristic；nullIn order to improve arithmetic speed，Ensure stability and the reliability of automatic pipeline robot system，The present invention introduces permagnetic synchronous motor special integrated circuit IRMCK203 in controller based on ARM、Digital signal processor DSP and direct current generator special integrated circuit MC51113，Form brand-new four nuclear control devices based on ARM+ IRMCK203+DSP+ MC51113，This controller takes into full account the battery effect in this system，Give IRMCK203 the four axle PMSM Servo Systems that workload in control system is maximum to complete、Two axle direct current generator servo-drive systems are given MC51113 and are completed、Battery cell monitoring、Path is read、Deviation processing etc. give ARM process，Give full play to the comparatively faster feature of ARM data processing speed，And the function such as image data acquiring and storage is given DSP and is completed，Thus achieve ARM、 IRMCK203、The division of labor of MC51113 Yu DSP，Communication can also be carried out between four simultaneously，Carry out data exchange in real time and call.
Accompanying drawing explanation
For the technical scheme being illustrated more clearly that in the embodiment of the present invention, in describing embodiment below, the required accompanying drawing used is briefly described, apparently, accompanying drawing in describing below is only some embodiments of the present invention, for those of ordinary skill in the art, on the premise of not paying creative work, it is also possible to obtain other accompanying drawing according to these accompanying drawings, wherein:
Fig. 1 is that the present invention is wirelessly transferred the schematic diagram of crawler type quick natural gas line robot control system one preferred embodiment with four core six axles；
Fig. 2 is pipe robot two-dimensional structure schematic diagram；
Fig. 3 is the programme diagram of Fig. 1；
Fig. 4 is that pipe robot patrols and examines schematic diagram.
Detailed description of the invention
Technical scheme in the embodiment of the present invention will be clearly and completely described below, it is clear that described embodiment is only a part of embodiment of the present invention rather than whole embodiments.Based on the embodiment in the present invention, all other embodiments that those of ordinary skill in the art are obtained under not making creative work premise, broadly fall into the scope of protection of the invention.
As it is shown in figure 1, the embodiment of the present invention includes:
nullA kind of four core six axles are wirelessly transferred crawler type quick natural gas line robot control system，Including battery、Controller、Permagnetic synchronous motor X、Permagnetic synchronous motor Y、Direct current generator A、Direct current generator B、Permagnetic synchronous motor Z、Permagnetic synchronous motor R、Based on ccd image collecting unit、Image storage unit、Humidity collection unit、Based on Hall effect pipeline inspection collecting unit、Wireless device and pipe robot，Described battery is provided separately the controller described in electric current driving，Described controller uses four nuclear control devices，Including ARM、IRMCK203、DSP and MC51113，Described includes ARM、IRMCK203、DSP and MC51113 carries out communication connection by wireless device，Described is all connected with DSP and MC51113 communication based on ccd image collecting unit and image storage unit，Described humidity collection unit and being all connected with ARM and IRMCK203 communication based on Hall effect pipeline inspection collecting unit，Described ARM and IRMCK203 sends the first control signal respectively、Second control signal、5th control signal and the 6th control signal，By the first described control signal、Second control signal、5th control signal and the 6th control signal control described permagnetic synchronous motor Y respectively、Permagnetic synchronous motor X、The motion of pipe robot is controlled again after the signal syntheses of permagnetic synchronous motor Z and permagnetic synchronous motor R，Described DSP and MC51113 sends the 3rd control signal and the 4th control signal respectively，Described direct current generator A is controlled respectively by the 3rd described control signal and the 4th control signal、It is connected with based on ccd image collecting unit communication after the signal syntheses of direct current generator B.Wherein, described battery uses lithium ion battery；Described the first control signal, the second control signal, the 5th control signal and the 6th control signal are PWM wave control signal.
In above-mentioned, described ARM uses STM32F746；Described DSP uses TMS320F2812.
STMicroelectronics
The brand-new STM32F7 MCU series of products produced are first volume productions in the whole world and have 32 bit ARM
The microcontroller of Cortex-M7 processor.Cortex-M7 is up-to-date release and the highest processor core of usefulness in Cortex-M series of products, brand-new STM32F7 MCU be ST STM32 MCU series of products in the highest product of usefulness, combine Cortex-M7 core and high-order peripheral unit, can promote application program usefulness, newly-increased New function, extend battery life, guarantee safety and reducing as far as possible use outer member with cost-effective with space etc. unrivaled advantage.
STM32F7 series of products include STM32F745 and STM32F746, and these two products are all equipped with the Cortex-M7 core having floating-point operation unit and DSP extended function, the highest 216MHz of arithmetic speed.STM32F7
ARM Cortex-M7 usefulness is surmounted the advantage of core (such as Cortex-M4) in early days and applies to ultimate attainment by MCU series of products, and usefulness reaches nearly DSP twice.
IRMCK203 is surface permanent magnetic synchronous motor closed-loop control IC, unlike traditional MCU or DSP scheme, IRMCK203 is completely without programming, but use hardware circuit based on motor control engine (Motion Control Engine, MCE) to realize the Field orientable control algorithm of permagnetic synchronous motor.MCE includes all functional units needed for the closed-loop controls such as pi regulator, vector calculus, Clark conversion, and all functions are realized by hardware circuit completely, therefore have quick computing capability and splendid dynamic property.In addition to current closed-loop and velocity close-loop control function based on velocity estimation; IRMCK203 also have automatic must open, dephasing detection, the control for brake of band busbar voltage monitoring and various driving defencive function; its simulation I/O and part number I/O is configurable, and internal register can be operated by all PORT COMs.User can configure various driving parameter (such as: pi regulator parameter, current feedback scope, PWM carrier frequency etc.) and monitoring system state according to the actual conditions (institute's use motor and loading condition) of oneself；IRMCK203 can coordinate with MCU or PC and realizes master slave mode, it runs the instruction accepting main frame completely, These characteristics is especially suitable for coordinating control high-speed permanent magnetic synchronous motor with ARM, reduces control algolithm and takies the cycle of arm processor, increases stability and the rapidity of system.
TMS320F2812 is 32 fixed-point dsps of novel high-performance of the C28x kernel compatible based on code, the instruction execution cycle of C28x kernel has reached 6.67ns, maximum running frequency can reach 150MHz, F2812 is integrated with many peripheral hardwares, provide the SOC(system on a chip) of the whole series, its On-Chip peripheral mainly includes 12,2 × 8 tunnel ADC (the fastest 80ns changes the time), 2 road SCI, 1 road SPI, 1 road McBSP, 1 road eCAN interface etc., and with two event manager modules (EVA, EVB).It addition, this device also has 3 32 independent bit CPU timers, and up to 56 GPIO pin being independently programmable.F2812 uses unified addressing mode, and chip internal has the SARAM of 18K, and including MO, M1, L0, L1, H0 totally 5 memory blocks, each memory block keeps independent, can conduct interviews different RAM block in the uniform machinery cycle, thus reduce streamline time delay.And inside F2812, have the FLASH of 128K word, address space 3D8000h～3F7FFFh, it is adaptable to low-power consumption, high performance control system.In addition F2812 provides external memory storage expansion interface (XINTF), conveniently carries out system extension, and its addressing space can reach 1MB；These characteristics makes F2812 while possessing the data-handling capacity that digital signal processor is remarkable, there is again peripheral hardware and interface in the sheet being suitable to control, can be widely applied in the control of various high performance system, These characteristics makes TMS320F2812 be particularly suitable for the figure collection of crusing robot, image storage and positional information storage.
In order to accurate acquisition pipe interior damage information, this controller is that ccd image acquisition system adds based on DSP+MC51113 two-dimensional localization servo-drive system, this two-dimentional system includes direct current generator A and direct current generator B, MC5X000 movement sequence control chip is the third generation SERVO CONTROL chip that PMD company develops based on High Performance Motion Control, has been widely used for the application of medical treatment, science, Automated condtrol and robot.MC5X113 movement sequence control chip has four sections: wherein MC51113 realizes the control of direct current generator, and carries out communication and data call by serial port with TMS320F2812.After DSP compares discovery suspicious region by storage image, adjusted the height of ccd image acquisition system lifting by controlled in wireless direct current generator A by main website, then adjusted, by direct current generator B, the angle that ccd image acquisition system rotates, the center making CCD is directed at the center of doubtful object, then suspicious region is analyzed in real time by main website, find in time and process this region, image that this region of DSP real-time storage collects and positional information, patrol and examine pipeline interpretation of result for pipe robot and provide basis for estimation.
nullIn order to accurately guide duct robot detects automatically，The present invention uses two set sensor navigation patterns, and (a set of magnetic navigation sensor navigates，A set of laser displacement sensor navigates)，The pipe robot two-dimensional structure of the present invention is as shown in Figure 2: described pipe robot includes robot housing K、Laser displacement sensor、Magnetic navigation sensor ME1、Left fork sensor ME2、Right fork sensor ME3、Three-axis gyroscope G1 and Timing Belt T，Described laser displacement sensor is separately mounted to the front end of robot housing K，Described magnetic navigation sensor ME1 is arranged on robot housing K and is positioned at the lower section of laser displacement sensor，Described left fork sensor ME2 and right fork sensor ME3 lays respectively at the two ends, left and right below magnetic navigation sensor ME1，Described Timing Belt T be separately positioned on robot housing K limit, the left and right sides and respectively with permagnetic synchronous motor X、Permagnetic synchronous motor Y、Permagnetic synchronous motor Z and permagnetic synchronous motor R connects，Described three-axis gyroscope G1 is arranged on robot housing K and between permagnetic synchronous motor X and permagnetic synchronous motor Y，Described direct current generator A、Direct current generator B and wireless device I is arranged on robot housing K.Wherein, described laser displacement sensor includes front, front laser displacement sensor LSF, left laser displacement sensor LSL and right laser displacement sensor LSR, described front, front laser displacement sensor LSF is arranged on the centre position in robot housing K dead ahead, the most angularly disposed two ends, left and right in robot housing K dead ahead of described left laser displacement sensor LSL and right laser displacement sensor LSR.
The magnetic navigation sensor ME1 moment detects the magnetic stripe in pipeline, and sensor is the first navigation criterion according to this, when magnetic stripe does not exists or the deviation distance that navigates is bigger, left laser displacement sensor LSL and right laser displacement sensor LSR acts on the distance judging direction of advance with left and right tube wall jointly, and providing navigation foundation as pipe robot linear motion, the differentiation that front, front laser displacement sensor LSF is pipe robot advance barrier provides according to and stops does criterion.Left fork Magnetic Sensor ME2 and right fork sensor ME3 detects fork, ground mark respectively, then the criterion turned left respectively as cross pipeline or turn right, and natural gas tube pipeline robot accurately can be compensated in this position, it is most important that this patrols and examines pipeline calculating position for pipe robot.
In order to improve the stability that natural gas tube pipeline robot navigates in closed conduit walking process, realize automatically adjusting and independent navigation ability of attitude, and reducing the error that accelerometer long term simulation brings, the present invention instead of accelerometer A1 with three-axis gyroscope G1 in natural gas line robot servo's hardware system.During pipe robot walking pipeline, the omnidistance three-axis gyroscope G1, three-axis gyroscope G1 of opening is used for measuring the angular speed of three directions of advance of pipe robot, and controller obtains its angle of inclination according to the angular speed recorded by integration.When the attitude of pipe robot changes and exceedes setting threshold values, at a new sampling period controller the most immediately to its position compensation, avoid pipe robot in the process of walking and translate into the generation of phenomenon because of tilting excessive, improve stability during its quick walking navigation；If three-axis gyroscope G1 is integrated, and it is transformed in navigational coordinate system, pipe robot can not rely on any external information in closed conduit just can obtain the information such as its speed, yaw angle and position in navigational coordinate system, produced navigation information continuity is good and noise is the lowest, greatly enhances the autonomous inertial navigation ability of pipe robot.When pipe robot reads cross pipeline entrance, robot to realize 90 or turn right 90 action, in this case, three-axis gyroscope can accurately calculate robot rotate angle, it is ensured that its turn accuracy.
Timing Belt T transmission is provided with the closed ring crawler belt of equidistant tooth by an inner peripheral surface and corresponding belt wheel is formed.During motion, band tooth is meshed with the teeth groove of belt wheel and transmits motion and power, is a kind of engaged transmission, thus has the various advantages of gear drive, Chain conveyer and Belt Drive.Timing Belt K transmission has gearratio accurately, without slippage, can obtain constant speed ratio, can precision drive, stable drive, energy shock-absorbing, noise is little, transmission efficiency is high, it is not required to lubrication, pollution-free, it is particularly suitable for normally working under being not allow for the occasion that pollution is the most severe with working environment, the particularly suitable spinning transmission of compact conformation, therefore the present invention uses Timing Belt technology to form four axle eight wheel drive mode.
The present invention is to solve the problem that domestic pipeline robot exists, have developed a kind of eight wheel crawler four core natural gas tube pipeline robots driven by four rare earth permanent-magnet synchronization motor differentials, the servo control algorithm of four rare earth permanent-magnet synchronization motors is completed by special sport control chip, increase the rapidity of system-computed, the bigger rare earth permanent-magnet synchronization motor of two power therein by Timing Belt respectively with left and right four-wheel mechanical linkages, just open when two lower-powered rare earth permanent-magnet synchronization motors additionally only have robot to accelerate and play the function that power adjusts, the multiple of left and right sides take turns respectively by crawler belt mechanical linkages, servo-drive systems based on two axle direct current generators provide positioning function for ccd image acquisition system, natural gas tube pipeline robot relies on its carry sensors to carry out patrolling and examining major gas pipeline.
The present invention absorbing on the premise of external Dynamic matrix control thought, independent research brand-new four nuclear control patterns based on ARM+ IRMCK203+DSP+ MC51113.Controller principle figure such as Fig. 1 of this design: controller is with ARM as processor core, the SERVO CONTROL of four axle synchronous motors is realized by IRMCK203, DSP realizes processing in real time and realizing the SERVO CONTROL of two axle direct current generators with MC51113 cooperation of IMAQ data signal, ARM is freed in the middle of complicated work, and respond DSP interrupt, it is achieved data communication and storage live signal.
As shown in Figure 3, described natural gas line robot control system is additionally provided with host computer procedure, program is controlled based on ARM main motion, based on DSP from motion control program, detect based on Hall effect pipe damage and be wirelessly transferred, described host computer procedure also includes that pipeline reads, location, position and power information, described also includes based on IRMCK203 tetra-axle permagnetic synchronous motor SERVO CONTROL based on ARM main motion control program, data storage and I/O control, described also includes based on MC51113 two axle direct current generator SERVO CONTROL with based on DSP IMAQ based on DSP from motion control program, described based on the transmission of Hall effect pipe damage detection wireless and is connected with based on Hall effect pipeline inspection collecting unit and wireless device communication respectively.
For reaching above-mentioned purpose, the present invention takes techniques below scheme, in order to the utilization rate improving the energy and the permagnetic synchronous motor reducing robot volume, native system efficiency and power density the highest instead of the motor such as stepper motor, direct current generator；In order to improve system acceleration request, system adds two lower-powered permagnetic synchronous motors and plays power-assisted effect, increases system dynamic characteristic；nullIn order to improve arithmetic speed，Ensure stability and the reliability of automatic pipeline robot system，The present invention introduces permagnetic synchronous motor special integrated circuit IRMCK203 in controller based on ARM、Digital signal processor DSP and direct current generator special integrated circuit MC51113，Form brand-new four nuclear control devices based on ARM+ IRMCK203+DSP+ MC51113，This controller takes into full account the battery effect in this system，Give IRMCK203 the four axle PMSM Servo Systems that workload in control system is maximum to complete、Two axle direct current generator servo-drive systems are given MC51113 and are completed、Battery cell monitoring、Path is read、Deviation processing etc. give ARM process，Give full play to the comparatively faster feature of ARM data processing speed，And the function such as image data acquiring and storage is given DSP and is completed，Thus achieve ARM、 IRMCK203、The division of labor of MC51113 Yu DSP，Communication can also be carried out between four simultaneously，Carry out data exchange in real time and call.
As shown in Figure 4, for the ARM+ IRMCK203+DSP+ MC51113 tetra-nuclear control device designed herein, under power-on state, ARM controller is first to robot battery SOC(state-of-charge) judge, if battery power is relatively low, controller can send alarm signal；If battery power is higher, first inputed to ARM by control device of wireless patrolling and examining the information such as natural gas line length and radius by master station, then pipe robot is channeled to detect mouth, pipe robot is introduced into self-locking state, waits that inlet valve F1 opens, after front laser displacement sensor LSF determines that valve is opened, pipe robot enters buffer area to be checked, then inlet valve F1 closes, and inlet valve F2 opens, and pipe robot enters pipe detection region；nullThe image capturing system that pipe robot carries、Humidity collection system and pipe damage detection device、Wireless device is all opened，Pipe robot according to setting speed along patrolling and examining route fast inspection，ARM is input to IRMCK203 magnetic navigation sensor ME1 parameter，Pipe robot permagnetic synchronous motor X is adjusted bis-times by IRMCK203、Permagnetic synchronous motor Y、Permagnetic synchronous motor Z、The PWM output of permagnetic synchronous motor R，The real-time servo realizing four permanent magnet synchronous motors controls，DSP realizes the location of CCD acquisition system by MC51113，DSP real-time storage gathers image，If DSP has a question to patrolling and examining some position，Will by wireless to main website send interrupt requests and with ARM communication，And by wireless device transmissions suspicious region image，Being sent cutoff command by controlled in wireless ARM makes pipe robot stop，Then main website realizes CCD secondary image collection and fault localization by wireless device，And by DSP real time record and storage.If pipe robot completes or turns right to patrol and examine subsidiary conduit when again returning to main pipeline, ARM will open power-assisted permagnetic synchronous motor Z and permagnetic synchronous motor R by IRMCK203, the PWM output of pipe robot permagnetic synchronous motor X, permagnetic synchronous motor Y, magneto Z and magneto R is adjusted according to magnetic navigation sensor ME1 parameter and rate request secondary, the real-time servo realizing four permanent magnet synchronous motors controls, in order to reduce energy resource consumption, before returning to main channel, DSP will close the information gathering of CCD.
With reference to Fig. 1, Fig. 2, Fig. 3 and Fig. 4, its concrete functional realiey is as follows:
1) after pipe robot power supply opening, battery SOC can be judged by ARM, if battery SOC is relatively low, ARM will forbid that IRMCK203 works, four permanent magnet synchronous motors PWM ripples are blocked, alarm sensor by work and sends alarm signal simultaneously, and ARM sends replacing power interruptions by wireless device to master station and asks；If battery SOC is normal, pipe robot enters treats duty, waits work order；
2) master station is transferred to ARM by wireless device information such as duct length, radius and pipeline topographic maps, then automatic guiding tube pipeline robot is to the starting end of pipe detection, for the walking in closed conduct of the precision navigation pipe robot, ARM first turns on pipe robot inertial navigation based on three-axis gyroscope G1 pattern;
null3) ARM of pipe robot begins through magnetic navigation sensor ME1 and reads area navigation magnetic stripe，Value of feedback according to magnetic navigation sensor ME1 is compared with actual set central value，ARM inputs to IRMCK203 after this deviation is converted，Automatically permagnetic synchronous motor X is adjusted according to its internal SERVO CONTROL program by IRMCK203、Permagnetic synchronous motor Y、Permagnetic synchronous motor Z、The PWM output of permagnetic synchronous motor R，Pipe robot is made to fast forward through along navigation magnetic stripe，Adjust the PI parameter of the internal SERVO CONTROL program of IRMCK203 in real time according to peripheral environment ARM simultaneously，During pipe robot advances, front laser displacement sensor LSF is by work，ARM detects distance D of pipe robot and front inlet valve F1 in real time，Then in the range of stably stop, pipe robot automatic stopping is allowed by IRMCK203，Then original place self-locking；
4) when front laser displacement sensor LSF detects that inlet valve F1 opens, pipe robot will open automatic cruise mode, the distance that real time record pipe robot is moved by controller ARM along magnetic stripe, after determining that pipe robot is completely into region to be checked, inlet valve F1 will be again switched off, after natural gas leakage device detects that inlet valve F1 completely closes, inlet valve F2 will open, now secondary is judged the state of front inlet valve F2 by front laser displacement sensor LSF, determine front valve open errorless after, pipe robot initially enters patrols and examines region and starts to detect natural gas line inner case；
5) after pipe robot enters pipe detection region, ARM is first according to the feedback of magnetic navigation sensor ME1, read the actual positional information of pipe robot and the numerical value of three-axis gyroscope G1, and compared with setting position, determine pipe robot deviation centre distance and the angle of inclination, this deviation signal of ARM inputs to IRMCK203 after converting, IRMCK203 obtains the PWM wave control signal of two permanent magnet synchronous motors X and motor Y according to its internal SERVO CONTROL program, and adjust pipe robot attitude in real time by drive circuit, make pipe robot stable operation at magnetic stripe immediate vicinity, the PI parameter of the internal SERVO CONTROL program of IRMCK203 is adjusted in real time according to peripheral environment ARM；If by the collection image of feedback, master station finds that pipe robot deviate from navigation track by a relatively large margin, by the attitude by control device of wireless preferential Calibration pipe robot；The air line distance that ARM real time record pipe robot has run, the distance correction sensor S moment is detected ground and revises mark, once read correcting device, the positional distance information of ARM record to be as the criterion to revise the positional information of mark, eliminate the pipe robot site error caused when walking, if pipe robot has been misread ground in the process of walking and revised mark, the positional information of pipe robot by radio transmitting device and ARM communication, and will be revised automatically by main website；
null6) if pipe robot in normal motion by external interference or run into magnetic stripe and rupture，Magnetic navigation sensor ME1 cannot read ground magnetic strip information，Now ARM will be by control device of wireless and master station's communication，Left laser displacement sensor LSL and right laser displacement sensor LSR opens work，The two by the distance input that records to ARM controller，Controller obtains off-centered position compared with setting value，ARM inputs to IRMCK203 after this deviation signal being converted，IRMCK203 obtains the PWM wave control signal of two permanent magnet synchronous motors X and motor Y according to its internal SERVO CONTROL program，And adjust pipe robot attitude in real time by drive circuit，Make pipe robot stable operation near pipeline planar central，The PI parameter of the internal SERVO CONTROL program of IRMCK203 is adjusted in real time according to peripheral environment ARM；The air line distance that ARM real time record robot has run, the distance correction sensor S moment is detected ground and revises mark, once read correcting device, ARM record position range information to be as the criterion to revise the positional information of mark, eliminate site error during pipe robot walking, if pipe robot has been misread ground in the process of walking and revised mark, the positional information of pipe robot by radio transmitting device and ARM communication, and will be revised automatically by main website；
7) in pipe robot motion process, the CCD moment in IMAQ opens, the image that DSP real-time storage CCD gathers, DSP compares the standard pipe information of the image gathered with setting, if bigger error occurs in the two comparison result, in order to prevent maloperation, DSP sends interrupt requests by wireless device to main website immediately, and with ARM communication, ARM makes an immediate response DSP interrupt, and allows pipe robot stop by IRMCK203；DSP adjusts the CCD position, output location of direct current generator A and direct current generator B by the internal three closed-loop direct SERVO CONTROL programs of MC51113, make ccd image gather center and be directed at doubtful picture centre, CCD secondary acquisition duct size information also passes through radio transmitting device real-time Transmission, main website analyzes this suspicious region in real time, DSP stores this image bis-times, doubtful be disposed after controlled in wireless reopen pipe robot so that it is continue to move ahead along pipeline navigation marker；
8) in pipe robot motion process, the humidity sensor moment in humidity collection system opens, the humidity information that ARM real-time storage humidity sensor collects, and compare with the standard pipe humidity information set, if there is bigger error in the two comparison result, ARM sends interrupt requests by wireless device to main website immediately, ARM is by the PWM wave control signal of the internal SERVO CONTROL program active accommodation two permanent magnet synchronous motors X and motor Y of IRMCK203, the speed reducing pipe robot makes it at a slow speed by doubt region, the PI parameter of the internal SERVO CONTROL program of IRMCK203 is adjusted in real time according to peripheral environment ARM；nullARM sends interrupt requests to DSP immediately simultaneously，DSP make an immediate response ARM interrupt，The output adjusting direct current generator A and direct current generator B by the internal three closed-loop direct SERVO CONTROL programs of MC51113 makes it position CCD position，Make ccd image gather center and be directed at doubtful water images center，And strengthen the comparison of aqueous water in CCD pipeline collection information，DSP stores the doubtful image of steam and the actual position information in this region，And by radio transmitting device real-time Transmission，Main website analyzes this suspicious region in real time，Confirm errorless after，DSP stores this image and positional information bis-times，Then ARM controller is restarted by wireless device in main website，Control pipe robot to continue to move ahead，After by suspicious region，ARM Yu IRMCK203 communication，And by the PWM wave control signal of the internal SERVO CONTROL program active accommodation two permanent magnet synchronous motors X and motor Y of IRMCK203，The speed recovering pipe robot makes it normally patrol and examine pipeline；
9) in pipe robot motion process, the front laser displacement sensor LSF moment opens, ARM processes anterior position information in real time, when having anomalies in conduit running front, front laser displacement sensor LSF probe value will appear from exception, ARM Yu IRMCK203 communication, and by the PWM wave control signal of the internal SERVO CONTROL program active accommodation two permanent magnet synchronous motors X and motor Y of IRMCK203, the speed reducing pipe robot makes it drive towards at a slow speed barrier, adjusts the PI parameter of the internal SERVO CONTROL program of IRMCK203 in real time according to peripheral environment ARM；nullARM sends interrupt requests to master station and DSP immediately simultaneously，DSP make an immediate response ARM interrupt，And make it position CCD position by the output of the internal three closed-loop direct SERVO CONTROL programs adjustment direct current generator A and direct current generator B of MC51113，Make ccd image gather center and be directed at doubtful obturator picture centre，CCD secondary acquisition duct size information also passes through radio transmitting device real-time Transmission，Main website analyzes this suspicious region in real time，DSP stores the doubtful image of blocking and the actual position information in this region，Owing to this pipe robot designed is many wheel crawlers structure，So ARM controls pipe robot and can pass through clear the jumps and can continue to move ahead，After by suspicious region，ARM Yu IRMCK203 communication，And by the PWM wave control signal of the internal SERVO CONTROL program active accommodation two permanent magnet synchronous motors X and motor Y of IRMCK203，The speed recovering pipe robot makes it normally patrol and examine pipeline；
10) in pipe robot motion process, pipeline inspection sensor based on Hall effect is by work, when conduit running front probe value occurs abnormal, ARM Yu IRMCK203 communication, and by the PWM wave control signal of the internal SERVO CONTROL program active accommodation two permanent magnet synchronous motors X and motor Y of IRMCK203, the speed reducing pipe robot makes it drive towards at a slow speed pipe damage suspicious region, adjusts the PI parameter of the internal SERVO CONTROL program of IRMCK203 in real time according to peripheral environment ARM；nullARM sends interrupt requests to master station and DSP immediately simultaneously，DSP make an immediate response ARM interrupt，And the CCD position, output location of direct current generator A and direct current generator B is adjusted by the internal three closed-loop direct SERVO CONTROL programs of MC51113，Ccd image is made to gather alignment suspicious lesion pipeline position, center，CCD secondary acquisition duct size information also passes through radio transmitting device real-time Transmission，Main website analyzes this suspicious region in real time，DSP storage finds doubtful pipe damage image，As do not found pipe damage image，DSP will record suspicious lesion actual position information，And mark outer damage，After by suspicious region，ARM Yu IRMCK203 communication，And by the PWM wave control signal of the internal SERVO CONTROL program active accommodation two permanent magnet synchronous motors X and motor Y of IRMCK203，The speed recovering pipe robot makes it normally patrol and examine pipeline；
null11) in pipe robot motion process，ARM can store in the moment the pipeline location of process or the reference point of process，And it is calculated relatively next reference point pipe robot permagnetic synchronous motor X according to these range informations by ARM、Permagnetic synchronous motor Y、Permagnetic synchronous motor Z、The distance that permagnetic synchronous motor R is to be run、Speed and acceleration，ARM feeds back in conjunction with current of electric、The feedback of photoelectric encoder feedback and ground magnetic stripe obtains position error signal，ARM Yu IRMCK203 communication，And by the PWM wave control signal of internal SERVO CONTROL program active accommodation four permanent magnet synchronous motors of IRMCK203，Pipe robot is made quickly to move ahead according to setting speed，The PI parameter of the internal SERVO CONTROL program of IRMCK203 is adjusted in real time according to peripheral environment ARM；
12) if pipe robot detective distance solves and occurs that endless loop will send interrupt requests to ARM in motion process, then ARM can send interrupt requests to master station to interrupting doing very first time response original place self-locking；Master station is resetted ARM again by wireless device, transmit the information such as new position, ARM is according to pipeline magnetic bar navigation mark feedback and left laser displacement sensor LSL and the feedback of right laser displacement sensor LSR, adjusting permanent-magnet synchronous X-motor and the speed of motor Y in real time, pipe robot starts to patrol and examine from new position；
13) after pipe robot enters detection region, if pipe robot is during main pipeline is patrolled and examined, left fork sensor ME2 reads ground turning mark, and ARM, first according to ground installation correction pipe robot positional information in the duct, eliminates pipe robot walking error；IRMCK203 is according to system speed and acceleration requirement, in conjunction with current of electric, photoelectric encoder and the feedback of three-axis gyroscope G1, adjust pipe robot permagnetic synchronous motor X and the pwm control signal of motor Y in real time, pipe robot is made to stop in distance R, then IRMCK203 combines the feedback of three-axis gyroscope G1 and makes pipe robot rotate in place left 90 degree, cruises in the left turnout of pipe robot entrance；In the detection process of left turnout, the front laser displacement sensor LSF moment opens and detects doubtful tamper and detects the distance with front terminal；ARM is according to the feedback real time record forward travel distance of front laser displacement sensor LSF, and makes pipe robot effectively stop in effective range before the terminal of distance turnout, and pipe robot rotates in place 180 degree under three-axis gyroscope G1 controls and prepares to return to main channel；Owing to left turnout has been patrolled and examined complete, in order to make pipe robot return quickly in main pipeline, IRMCK203 opens power-assisted permagnetic synchronous motor Z and permagnetic synchronous motor R, makes system enter and accelerates return state；In whole return course, IRMCK203 is according to system speed and acceleration requirement, then in conjunction with current of electric, photoelectric encoder and the feedback of three-axis gyroscope 1G, adjust pipe robot permagnetic synchronous motor X, permagnetic synchronous motor Y, permagnetic synchronous motor Z and the pwm control signal of permagnetic synchronous motor R in real time, make pipe robot can speed up and return to main pipeline along landing ground magnetic stripe, in order to save the energy, at return trip, main website will close ccd image acquisition system by DSP until arriving main channel；
14) after pipe robot enters detection region, if pipe robot is during main pipeline is patrolled and examined, right fork sensor ME3 reads ground turning mark, and first ARM according to ground installation correction robot positional information in the duct, eliminates pipe robot walking error；IRMCK203 is according to system speed and acceleration requirement, then in conjunction with current of electric, photoelectric encoder and the feedback of three-axis gyroscope G1, adjust pipe robot permagnetic synchronous motor X and the pwm control signal of motor Y in real time, pipe robot is made to stop in distance R, then IRMCK203 combines the feedback of three-axis gyroscope G1 and makes pipe robot rotate in place right 90 degree, cruises in the right turnout of pipe robot entrance；In the detection process of right turnout, the front laser displacement sensor LSF moment opens and detects doubtful tamper and detects the distance with front terminal；ARM is according to the feedback real time record forward travel distance of front laser displacement sensor LSF, and makes pipe robot effectively stop in effective range before the terminal of distance turnout, and pipe robot rotates in place 180 degree under three-axis gyroscope G1 controls and prepares to return to main channel；Owing to right turnout has been patrolled and examined complete, in order to make pipe robot return quickly in main pipeline, IRMCK203 opens power-assisted permagnetic synchronous motor Z and permagnetic synchronous motor R, makes system enter and accelerates return state；In whole return course, IRMCK203 is according to system speed and acceleration requirement, then in conjunction with current of electric, photoelectric encoder and the feedback of three-axis gyroscope G1, adjust pipe robot permagnetic synchronous motor X, permagnetic synchronous motor Y, permagnetic synchronous motor Z and the pwm control signal of permagnetic synchronous motor R in real time, make pipe robot can speed up and return to main pipeline along landing ground magnetic stripe, in order to save the energy, at return trip, main website will close ccd image acquisition system by DSP until arriving main channel;
15) photoelectric encoder being contained on permagnetic synchronous motor X, permagnetic synchronous motor Y, permagnetic synchronous motor Z, permagnetic synchronous motor R, direct current generator A and direct current generator B can export its position signalling A and position signalling B, position signalling A pulse and the B pulsed logic state of photoelectric encoder often change once, ARM(or DSP) in location register can add 1 according to the traffic direction of motor or subtract 1；When the position signalling A pulse of photoelectric encoder and B pulse and Z pulse are low level simultaneously, just produce an INDEX signal to ARM(or DSP) internal register, the absolute position of record permagnetic synchronous motor, is then convert into pipe robot particular location in pipe detection system;
16) pipe robot calculates power supply SOC in running ARM controller in real time according to its internal algorithm, if controller finds when power supply energy is relatively low, ARM can be with DSP communication, and close ccd image collecting work and image storage work by DSP, and the PWM output of permagnetic synchronous motor X and permagnetic synchronous motor Y is adjusted by the internal three closed loop servo-control system programs of IRMCK203, pipe robot drives towards exit with slower speed under controlled in wireless, it is ensured that pipe robot can arrive exit smoothly;
17) during pipe robot is patrolled and examined, if there is pulsation in the torque that servo controller detects permagnetic synchronous motor, the permagnetic synchronous motor used due to the present invention controls to be based on orientation on rotor flux, therefore IRMCK203 can be easy to compensate this interference, decreases the motor torque impact on pipe robot motion process;
null18) during pipe robot drives towards outlet valve，The front laser displacement sensor LSF that it carries can detect the displacement between itself and valve in the moment，When determining that outlet valve F3 is in open mode，Pipe robot will open cruise mode，The distance that controller ARM real time record pipe robot has moved along magnetic stripe，After determining that pipe robot is completely into exporting region to be checked，Outlet valve F3 will close，Natural gas aspirator will aspirate the natural gas situation in region to be checked，When natural gas leakage device be not detected by region to be checked have natural gas to remain time，Outlet valve F4 will open，Now secondary is judged the state of front exit valve F4 by front laser displacement sensor LSF，Determine front exit valve F4 open errorless after，Pipe robot rolls detection pipeline away from，Return to detect terminal，Wait next sense command.
The invention have the advantages that:
1: in pipe robot motion process, take into full account battery effect in this system, all its state is being monitored and computing based on the ARM+ IRMCK203+DSP+ MC51113 tetra-nuclear control device moment, both the generation of the lithium ion battery overaging phenomenon caused due to heavy-current discharge had been avoided, can effectively predict again the energy of battery, patrol and examine to provide for pipe robot and be effectively ensured；
2: processed four permagnetic synchronous motors of pipe robot by IRMCK203 and process the SERVO CONTROL of two direct current generators based on rotor field-oriented SERVO CONTROL and MC51113, make to control fairly simple, substantially increase arithmetic speed, solve control algolithm and take ARM and dsp operation cycle longer problem, shorten the construction cycle short, and program transportability ability is strong；
3: the present invention realizes full SMD components material substantially, it is achieved that veneer controls, and not only saves control panel and takes up room, and beneficially the alleviating of pipe robot volume and weight；
4: the pipe robot navigation system of the present invention uses permagnetic synchronous motor to instead of stepper motor conventional in conventional machines people's system, direct current generator, DC brushless motor, due to its small volume, efficiency is higher, pipe robot volume can be reduced further, and energy utilization rate is greatly improved；
5: owing to permagnetic synchronous motor uses based on orientation on rotor flux so that speed adjustable range is relatively wide, contrast of regulating speed is steady, even if the pulsating torque at low-speed stage motor is the least, the dynamic property of beneficially raising system；
6: owing to this controller uses DSP to process figure collection and the mass data of storage and algorithm, processed four axle permagnetic synchronous motors by IRMCK203 and MC51113 processes the SERVO CONTROL of two axle direct current generators, ARM and DSP is freed from hard work amount, effectively prevent " race flies " of program, antijamming capability is greatly enhanced；
7: in the controlling, ARM and DSP can adjust two axle permagnetic synchronous motors and direct current generator servo-controlled PI parameter according to robot periphery ruuning situation in good time, make dynamic performance be greatly improved；
8: equipped with humidity collection system on pipe robot, the humidity abnormal area in tunnel can be detected easily, can effectively find the existence of pipeline water droplet；
9: equipped with image capturing system on pipe robot, the abnormal conditions such as pipe interior corrosive pipeline can be detected easily, and effectively store its image；
10: master station staff can be made accurately to judge suspicious region based on wireless image transmission, wireless remote control technology can well solve the emergency situations that pipe robot occurs simultaneously, such as solves deadlock etc.；
11: image based on DSP storage function makes pipe robot facilitate staff to read after completing task to patrol and examine as a result, it is possible to read pipeline corrupted information and particular location, then on-call maintenance from storage result easily；
12: equipped with fault localization acquisition system based on Hall effect on pipe robot, can detect the abnormal conditions such as pipeline external corrosive pipeline and damage easily, be conducive to pinpointing the problems early pipeline；
13: the addition of three-axis gyroscope G1 can effectively detect the angle of inclination of pipe robot deviation pipeline plane, this angle can be adjusted, effectively controls the attitude of pipe robot by ARM in the moment；
14: the addition of magnetic navigation sensor and laser displacement sensor makes system navigation have certain redundancy, greatly improves the stability of pipe robot；
15: the addition of Timing Belt technology makes eight wheels all have power, and the addition of crawler belt simultaneously effectively increases the area that pipe robot contacts in the duct, makes pipe robot can improve environmental suitability effectively by having obstruction object area；
16: two axle ccd images based on direct current generator A and direct current generator B gather alignment system can make IMAQ more reliable, carries out pipe damage for main website and obstruction information is analyzed in real time and provided reliable basis；
17: turning navigation marker in ground coordinates left and right sides laser displacement sensor to make system can easily read duct size information, the beneficially pipe robot location in complicated pipeline and the elimination of site error；
18: angle when pipe robot is turned can be effectively measured in the addition of three-axis gyroscope G1, improve reliable basis for pipe robot turning navigation in complicated pipeline；
The addition of 19: two power-assisted permagnetic synchronous motors makes the power performance adjustment of system have optional so that robot can meet the power demand under different operating mode so that the adaptation ability of robot is strengthened；
20: speed and the direction skew that pipe robot occurs at line navigation can be effectively measured in the addition of three-axis gyroscope G1, improves reliable basis for pipe robot inertial navigation in complicated pipeline.
To sum up tell, four core six axles of the present invention are wirelessly transferred crawler type quick natural gas line robot control system, in order to the utilization rate improving the energy and the permagnetic synchronous motor reducing robot volume, native system efficiency and power density the highest instead of the motor such as stepper motor, direct current generator；In order to improve system acceleration request, system adds two lower-powered permagnetic synchronous motors and plays power-assisted effect, increases system dynamic characteristic；nullIn order to improve arithmetic speed，Ensure stability and the reliability of automatic pipeline robot system，The present invention introduces permagnetic synchronous motor special integrated circuit IRMCK203 in controller based on ARM、Digital signal processor DSP and direct current generator special integrated circuit MC51113，Form brand-new four nuclear control devices based on ARM+ IRMCK203+DSP+ MC51113，This controller takes into full account the battery effect in this system，Give IRMCK203 the four axle PMSM Servo Systems that workload in control system is maximum to complete、Two axle direct current generator servo-drive systems are given MC51113 and are completed、Battery cell monitoring、Path is read、Deviation processing etc. give ARM process，Give full play to the comparatively faster feature of ARM data processing speed，And the function such as image data acquiring and storage is given DSP and is completed，Thus achieve ARM、IRMCK203、The division of labor of MC51113 Yu DSP，Communication can also be carried out between four simultaneously，Carry out data exchange in real time and call.
The foregoing is only embodiments of the invention; not thereby the scope of the claims of the present invention is limited; every equivalent structure utilizing description of the invention content to be made or equivalence flow process conversion; or directly or indirectly it is used in other relevant technical field, the most in like manner it is included in the scope of patent protection of the present invention.
Claims (9)
- null1. core six axle is wirelessly transferred crawler type quick natural gas line robot control system，It is characterized in that，Including battery、Controller、Permagnetic synchronous motor X、Permagnetic synchronous motor Y、Direct current generator A、Direct current generator B、Permagnetic synchronous motor Z、Permagnetic synchronous motor R、Based on ccd image collecting unit、Image storage unit、Humidity collection unit、Based on Hall effect pipeline inspection collecting unit、Wireless device and pipe robot，Described battery is provided separately the controller described in electric current driving，Described controller uses four nuclear control devices，Including ARM、IRMCK203、DSP and MC51113，Described includes ARM、IRMCK203、DSP and MC51113 carries out communication connection by wireless device，Described is all connected with DSP and MC51113 communication based on ccd image collecting unit and image storage unit，Described humidity collection unit and being all connected with ARM and IRMCK203 communication based on Hall effect pipeline inspection collecting unit，Described ARM and IRMCK203 sends the first control signal respectively、Second control signal、5th control signal and the 6th control signal，By the first described control signal、Second control signal、5th control signal and the 6th control signal control described permagnetic synchronous motor Y respectively、Permagnetic synchronous motor X、The motion of pipe robot is controlled again after the signal syntheses of permagnetic synchronous motor Z and permagnetic synchronous motor R，Described DSP and MC51113 sends the 3rd control signal and the 4th control signal respectively，Described direct current generator A is controlled respectively by the 3rd described control signal and the 4th control signal、It is connected with based on ccd image collecting unit communication after the signal syntheses of direct current generator B.
- Quick natural gas line robot control system the most according to claim 1, it is characterised in that described battery uses lithium ion battery.
- Quick natural gas line robot control system the most according to claim 1, it is characterised in that described the first control signal, the second control signal all, the 5th control signal and the 6th control signal be PWM wave control signal.
- Quick natural gas line robot control system the most according to claim 1, it is characterised in that described ARM uses STM32F746；Described DSP uses TMS320F2812.
- nullQuick natural gas line robot control system the most according to claim 1，It is characterized in that，Described pipe robot includes robot housing、Laser displacement sensor、Magnetic navigation sensor、Left fork sensor、Right fork sensor、Three-axis gyroscope and Timing Belt，Described laser displacement sensor is separately mounted to the front end of robot housing，Described magnetic navigation sensor is arranged on robot housing and is positioned at the lower section of laser displacement sensor，Described left fork sensor and right fork sensor lay respectively at the two ends, left and right below magnetic navigation sensor，Described Timing Belt be separately positioned on robot housing limit, the left and right sides and respectively with permagnetic synchronous motor X、Permagnetic synchronous motor Y、Permagnetic synchronous motor Z and permagnetic synchronous motor R connects，Described three-axis gyroscope is arranged on robot housing and between permagnetic synchronous motor X and permagnetic synchronous motor Y，Described direct current generator A、Direct current generator B and wireless device are arranged on robot housing.
- Quick natural gas line robot control system the most according to claim 5, it is characterized in that, described laser displacement sensor includes front laser displacement sensor, left laser displacement sensor and right laser displacement sensor, described front laser displacement sensor is arranged on the most angularly disposed two ends, left and right in robot housing dead ahead of the centre position in robot housing dead ahead, described left laser displacement sensor and right laser displacement sensor.
- Quick natural gas line robot control system the most according to claim 5, it is characterised in that described Timing Belt uses four axle eight wheel drive mode, is provided with the closed ring crawler belt of equidistant tooth by an inner peripheral surface and corresponding belt wheel is formed.
- nullQuick natural gas line robot control system the most according to claim 1，It is characterized in that，Described natural gas line robot control system is additionally provided with host computer procedure、Program is controlled based on ARM main motion、Based on DSP from motion control program、Detect based on Hall effect pipe damage and be wirelessly transferred，Described host computer procedure also includes that pipeline reads、Location, position and power information，Described also includes based on IRMCK203 tetra-axle permagnetic synchronous motor SERVO CONTROL based on ARM main motion control program、Data storage and I/O control，Described also includes based on MC51113 two axle direct current generator SERVO CONTROL with based on DSP IMAQ from motion control program based on DSP，Described based on the transmission of Hall effect pipe damage detection wireless and is connected with based on Hall effect pipeline inspection collecting unit and wireless device communication respectively.
- Quick natural gas line robot control system the most according to claim 1, it is characterized in that, described natural gas line robot control system also includes that photoelectric encoder, described photoelectric encoder are separately mounted on permagnetic synchronous motor X, permagnetic synchronous motor Y, direct current generator A, direct current generator B, permagnetic synchronous motor Z and permagnetic synchronous motor R.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610406257.6A CN105856238B (en) | 2016-06-12 | 2016-06-12 | Four core, six axis is wirelessly transferred the quick natural gas line robot control system of crawler type |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610406257.6A CN105856238B (en) | 2016-06-12 | 2016-06-12 | Four core, six axis is wirelessly transferred the quick natural gas line robot control system of crawler type |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105856238A true CN105856238A (en) | 2016-08-17 |
| CN105856238B CN105856238B (en) | 2018-11-16 |
Family
ID=56677397
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610406257.6A Active CN105856238B (en) | 2016-06-12 | 2016-06-12 | Four core, six axis is wirelessly transferred the quick natural gas line robot control system of crawler type |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN105856238B (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109335669A (en) * | 2018-12-19 | 2019-02-15 | 攀枝花学院 | A kind of control circuit of transfer robot |
| CN112013203A (en) * | 2020-07-18 | 2020-12-01 | 淮阴工学院 | Pipe network detection system based on DRNN neural network |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
| US20150105907A1 (en) * | 2013-10-10 | 2015-04-16 | Seiko Epson Corporation | Robot controller, robot system, robot, robot control method, and program |
| CN105159324A (en) * | 2015-08-24 | 2015-12-16 | 铜陵学院 | Six-wheel and dual-core type medium-speed fire-extinguishing robot servo controller |
| CN105334853A (en) * | 2015-08-24 | 2016-02-17 | 铜陵学院 | Double-core high-speed four-wheel miniature micro-mouse sprint controller |
-
2016
- 2016-06-12 CN CN201610406257.6A patent/CN105856238B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
| US20150105907A1 (en) * | 2013-10-10 | 2015-04-16 | Seiko Epson Corporation | Robot controller, robot system, robot, robot control method, and program |
| CN105159324A (en) * | 2015-08-24 | 2015-12-16 | 铜陵学院 | Six-wheel and dual-core type medium-speed fire-extinguishing robot servo controller |
| CN105334853A (en) * | 2015-08-24 | 2016-02-17 | 铜陵学院 | Double-core high-speed four-wheel miniature micro-mouse sprint controller |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109335669A (en) * | 2018-12-19 | 2019-02-15 | 攀枝花学院 | A kind of control circuit of transfer robot |
| CN112013203A (en) * | 2020-07-18 | 2020-12-01 | 淮阴工学院 | Pipe network detection system based on DRNN neural network |
Also Published As
| Publication number | Publication date |
|---|---|
| CN105856238B (en) | 2018-11-16 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN105856235B (en) | A kind of wireless transmission six axis crawler type natural gas line robot control system of dinuclear | |
| CN105856234B (en) | A kind of axle caterpillar type high-speed natural gas line robot control system of three core two | |
| CN105881537B (en) | A kind of axle caterpillar type high-speed natural gas line robot control system of three core four | |
| CN105856237B (en) | It is wirelessly transferred three core, four axis caterpillar type high-speed natural gas line robot control system | |
| CN105005249A (en) | Fully automatic four-wheel two-core high speed fire extinguishing robot servo controller | |
| CN105045288A (en) | Single-wheel full-automatic middle-speed fire-fighting robot servo control system | |
| CN105045289A (en) | Single-wheel full-automatic high-speed fire-fighting robot servo control system | |
| CN106094617A (en) | It is wirelessly transferred three core eight axle caterpillar type high-speed natural gas line robot control systems | |
| CN106078734A (en) | One is wirelessly transferred dinuclear four axle crawler type natural gas line robot control system | |
| CN108873895A (en) | Drop intelligent patrol detection vehicle in road surface | |
| CN105856238A (en) | Four-core six-axis wireless-transmission track type rapid natural gas pipeline robot control system | |
| CN105922263B (en) | A kind of six axis crawler type natural gas line robot control system of dinuclear | |
| CN105922260B (en) | A kind of two axis crawler type natural gas line robot control system of dinuclear | |
| CN105856236A (en) | Wireless transmission four-kernel four-shaft crawler type rapid natural gas pipeline robot control system | |
| CN105945951B (en) | A kind of quick natural gas line robot control system of three core, eight axis crawler type | |
| CN105856239A (en) | Three-core eight-axle tracked high-speed natural gas pipeline robot control system | |
| CN106078735A (en) | A kind of three core six axle caterpillar type high-speed natural gas line robot control systems | |
| CN106078737A (en) | It is wirelessly transferred four core ten axle crawler type quick natural gas line robot control systems | |
| CN105881539B (en) | A kind of eight axis of dinuclear is wirelessly transferred crawler type natural gas line robot control system | |
| CN105922259B (en) | A kind of quick natural gas line robot control system of axle crawler type of three core four | |
| CN105911916A (en) | Wireless-transmission three-nuclear six-axis crawler-type high speed natural gas pipeline robot control system | |
| CN105881538B (en) | A kind of quick natural gas line robot control system of three core, six axis crawler type | |
| CN106003058B (en) | A kind of four axis crawler type natural gas line robot control system of dinuclear | |
| CN105953026B (en) | A kind of quick natural gas line robot control system of three core, two axis crawler type | |
| CN105922264A (en) | Wireless transmission four-core and eight-axis crawler belt type rapid natural gas pipeline robot control system |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |