CN105856239B - A kind of axle caterpillar type high-speed natural gas line robot control system of three core eight - Google Patents

A kind of axle caterpillar type high-speed natural gas line robot control system of three core eight Download PDF

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Publication number
CN105856239B
CN105856239B CN201610406271.6A CN201610406271A CN105856239B CN 105856239 B CN105856239 B CN 105856239B CN 201610406271 A CN201610406271 A CN 201610406271A CN 105856239 B CN105856239 B CN 105856239B
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synchronous motor
permagnetic synchronous
control signal
robot
arm
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CN105856239A (en
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张好明
鲍庭瑞
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Jiangsu Ruobo Robot Technology Co Ltd
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Jiangsu Ruobo Robot Technology Co Ltd
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    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00Programme-controlled manipulators
    • B25J9/16Programme controls
    • B25J9/1602Programme controls characterised by the control system, structure, architecture
    • B25J9/161Hardware, e.g. neural networks, fuzzy logic, interfaces, processor
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J5/00Manipulators mounted on wheels or on carriages
    • B25J5/005Manipulators mounted on wheels or on carriages mounted on endless tracks or belts
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00Programme-controlled manipulators
    • B25J9/16Programme controls
    • B25J9/1694Programme 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
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00Programme-controlled manipulators
    • B25J9/16Programme controls
    • B25J9/1694Programme 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
    • B25J9/1697Vision controlled systems
    • FMECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16LPIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
    • F16L55/00Devices or appurtenances for use in, or in connection with, pipes or pipe systems
    • F16L55/26Pigs or moles, i.e. devices movable in a pipe or conduit with or without self-contained propulsion means
    • F16L55/28Constructional aspects
    • F16L55/30Constructional aspects of the propulsion means, e.g. towed by cables
    • F16L55/32Constructional aspects of the propulsion means, e.g. towed by cables being self-contained
    • GPHYSICS
    • G05CONTROLLING; REGULATING
    • G05DSYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
    • G05D1/02Control of position or course in two dimensions
    • G05D1/021Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0231Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
    • G05D1/0246Control 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
    • G05D1/0248Control 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
    • GPHYSICS
    • G05CONTROLLING; REGULATING
    • G05DSYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
    • G05D1/02Control of position or course in two dimensions
    • G05D1/021Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0259Control of position or course in two dimensions specially adapted to land vehicles using magnetic or electromagnetic means
    • G05D1/0263Control of position or course in two dimensions specially adapted to land vehicles using magnetic or electromagnetic means using magnetic strips
    • FMECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16LPIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
    • F16L2101/00Uses or applications of pigs or moles
    • F16L2101/30Inspecting, measuring or testing
    • GPHYSICS
    • G05CONTROLLING; REGULATING
    • G05DSYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D2201/00Application
    • G05D2201/02Control of position of land vehicles
    • G05D2201/0207Unmanned vehicle for inspecting or visiting an area

Abstract

The present invention discloses the axle caterpillar type high-speed natural gas line robot control system of three core eight, described controller uses three nuclear control devices, ARM including by wireless device communicate connection, FPGA and DSP, first control signal is sent by described ARM and FPGA respectively, second control signal, 3rd control signal, 4th control signal, 5th control signal, 6th control signal, 7th control signal and the 8th control signal, described permagnetic synchronous motor X is controlled respectively, permagnetic synchronous motor Y, permagnetic synchronous motor Z, permagnetic synchronous motor R, permagnetic synchronous motor U, permagnetic synchronous motor W, the motion of control pipeline robot again after the synthesis of permagnetic synchronous motor J and permagnetic synchronous motor K signal.The present invention frees ARM among the work of complexity, realizes the real time position collection of eight axle three-phase permanent magnet synchronous motors, and responds DSP interrupt, realizes data communication and storage live signal.

Description

A kind of axle caterpillar type high-speed natural gas line robot control system of three core eight
Technical field
The present invention relates to the field of large-scale pipeline robot, more particularly to a kind of axle caterpillar type high-speed natural gas tube of three core eight Pipeline robot control system.
Background technology
The pumped (conveying) medium of natural gas line belongs to inflammable, explosive material, the hydrogen sulfide contained in medium, carbon dioxide, trip From impurity such as water, dust, the pipeline of laying is set to be in inside and outside etching condition, or even the internal congestion situations that can produce are sent out sometimes It is raw.Along with the factor such as environment, geology, meteorology and hydrological disaster, tubing and design defect, operational error or even artificial destruction, The safety of pipeline is threatened by many factors.
On June 4th, 1989, a gas pipeline of the former Soviet Union leak, and two row are to running a train apart from leakage point 1 Kilometer outside railway line on by when, train friction produce spark cause leakage natural-gas blast, cause people more than 600 dead Die, hundreds of hectares of forests are burnt;In August, 2000, the gas pipeline hair of the 720 mm bores of the New Mexico southeast one Raw gas explosion, cause incessanly to fight greatly and at least cause 10 people dead, the place beyond more than 30 kilometers can be seen huge Type fireball rushes to sky, and ground leaves long 25m, deep 6m hollow place together after blast;The oil and gas pipeline in China is also once more Secondary that accident occurs, pipeline occurs the accidents such as explosion, leakage, stopping transportation and not only causes huge property loss, and jeopardizes ecology Environment.
Pipe robot is that one kind can carry one or more sensings along either outside automatically walk inside pipeline Device and operation machinery, a series of electromechanics of pipeline operations is completed under the control of operating personnel or under computer controlled automatic Integral system.The research of pipe robot starts from eighties of last century the forties, to the seventies due to microelectric technique, meter Calculation machine technology, the development and progress of automatic technology, external pipeline robot technique have obtained fast development the beginning of the nineties, ground Many experimental prototypes have been made, and have achieved substantial amounts of achievement in research.
With pipe robot inspection natural gas line, the efficiency of pipe detection can be not only improved, and for improving labor Dynamic condition, reduces labor intensity, and improves operating efficiency, reduces operating cost, guarantees personal safety and suffer from highly important meaning Justice.But it is domestic also without pipe robot inspection natural gas line is used, natural gas line blast happens occasionally, caused huge Big economic loss and environmental pollution.
One practical natural gas tube pipeline robot must possess following components:
1)Image capturing system:Image capturing system can be found that in pipeline produced problem, and can be work Personnel's offer pipeline is damaged and congestion situations, and reliable basis are provided to change pipeline either cleaning pipeline;
2)Damage acquisition system:Damage acquisition system can find the abnormal conditions that pipe-line system outer wall occurs in time, keep away Exempted from pipeline and long-term breakage causes anti-pressure ability to weaken, ultimately result in natural gas largely leakage and produce explosion accident;
3)Humidity detects and obturator detection:If humidity is excessive, the pumped (conveying) medium of natural gas line is easily formed pipeline Corrosion, while moieties understand heap to produce congestion situations;
4)Motor:Actuating motor is that the power of pipe robot implements part, and it converts the energy of power supply in real time, according to pipe Pipeline robot microprocessor is instructed to perform related walking motion of the robot in natural gas line;
5)Algorithm:Algorithm is the soul of natural gas tube pipeline robot, interior because natural gas line is the pipeline of a closing Portion's situation is extremely complex, natural gas tube pipeline robot must use certain intelligent algorithm just can accurately out of pipeline a little to Up in addition, form point-to-point inspection, and real-time storage collection image, pipeline steam information, pipeline obstruction information, pipeline Damage situations and damaged location information;
6)Microprocessor:Microprocessor is the core of natural gas tube pipeline robot, is natural gas tube pipeline robot Brain.All information in pipeline, including humidity, congestion situations, pipe damage information and damage position information in pipeline, Motor status information, battery status information etc. are required for by microprocessor processes and make corresponding judgement.
The domestic research to pipe robot is simply at the early-stage, is to use monokaryon controller, is in laboratory sample The machine design phase, there is a certain distance from large-scale use, mainly face problems with:
(1)Controlled technique influence, all pipe robots use monokaryon controller, the computing capability of controller compared with Weak, pipe robot can not quickly handle real time environment, and robot ambulation speed is relatively low, and inspection pipeline speed is slower, and surely It is qualitative poor;
(2)For using chargeable storage using the energy entrained by motor-driven pipe robot, these storages Battery is that, without protection circuit, the life-span is shorter by formation high-voltage great-current energy resource system after simply connecting and being in parallel, Often occurs the abnormal work for even interfering with pipe robot during normal work;
(3)For using the stepper motor either pipe robot of DC motor Driver, by motor own efficiency Influence, energy utilization rate is relatively low, causes robot displacement in pipeline shorter;
(4)For using the stepper motor either pipe robot of DC motor Driver, by power of motor density Influence, because used motor volume is larger, it is larger to ultimately result in the volume of robot, heavier-weight, has a strong impact on The use range of pipe robot;
(5)Either based on the vector controlled either servo based on orientation on rotor flux algorithm permagnetic synchronous motor Control, in addition to carrying out multiple coordinate transform and inverse transformation, the closed-loop control of electric current and speed is also carried out, thus realized More complicated and requirement of real-time is higher;Use DSP technologies either ARM technologies and realized with software mode, system development Cycle is long, and the processor time that the algorithm takes is relatively more, have impact on DSP either ARM processing functions;Using Although special sport control chip can reduce processor processing time, its internal PID regulation can only meet single It is required that application of the pipe robot in complex environment can not be met;
(6)Self adjustment capability of pipe robot motion state is poor, and controlled mode influences, and robot is in pipeline Attitude parameter identification is poor, and self plane of robot None- identified and the angle of pipeline principal plane, robot can not real-time basis Peripheral environment adjusts the pid parameter of oneself, causes to tilt during robot ambulation, or even overturns sometimes, causes task to be lost Lose;
(7)For there is the natural gas line of obstruction, common wheeled robot and contact area of ground are less, obstacle climbing ability It is weaker, it can not even clear the jumps sometimes, finally can not inspection completion task;
(8)For using the six power-actuated pipe robots of wheel, the power adjustment capability of robot is compared with two-wheeled, four Wheel power drive increases, and can meet the acceleration under the simple operating mode of pipe robot and climbing function, but running into has When the pipeline or large obstacle of certain slope, demand power is larger, and six wheel power just show the weakness being short of power Out so that dynamic performance reduces;
(9)Due to the drift angle formed when three axis accelerometer just can obtain robot ambulation by quadratic integral, three axle tops Spiral shell instrument is by once integrating the drift angle formed when just can obtain robot ambulation, because the presence of integration causes pipe robot to exist Certain mistake sometimes occurs in position in closed conduit during inertial navigation.
The stator of permasyn morot has identical stator structure with common electrically excited synchronous motor, simply rotor On the excitation pole and Exciting Windings for Transverse Differential Protection of synchronous machine are instead of using Nd-Fe-B rare earth permanent magnetic material as magnetic pole, make the structure of motor It is relatively simple, and easy out of order collector ring and brush are eliminated, non-brushing is realized, improves the reliable of motor running Property.Because being not required to exciting current, therefore the copper loss of Exciting Windings for Transverse Differential Protection can be saved, greatly improve the efficiency of motor;Rare earth permanent magnet Material is used so that power of motor density is higher, so the volume of motor be can be made smaller, suitable volume requirement is higher Occasion.Permasyn morot is in addition to having obvious energy-saving effect, also with the characteristic that rotating speed is accurate, noise is low, rare earth Permagnetic synchronous motor be based on it is rotor field-oriented or based on vector control system can realize high accuracy, high dynamic performance, Large-scale speed governing or location control, these characteristics cause rare earth permanent-magnet synchronization motor be particularly suitable for being used in pipe robot this In the more special robot control system of a little requirements.
Crawler-type mobile mechanism is the expansion of wheeled locomotion mechanism, and crawler belt plays a part of continuously paving the way to wheel in itself. Relative to ratcheting mechanism, crawler-type mobile mechanism has many advantages, such as, such as:Bearing area is big, and grounding pressure is small;Rolling resistance It is small, pass through better performances;Off-road mobility is good;There is grouser on crawler belt bearing-surface, be not easy to skid, traction adhesion property is good, favorably In the tractive force that performance is larger;Crawler-type mobile mechanism is conjugated by changing the position of crawler belt or the mechanism form of crawler belt to reach The requirement of varying environment is adapted to, the angle of two crawler belts can be adjusted, to adapt to different operation calibers.
The content of the invention
The present invention solves the technical problem of provide a kind of axle caterpillar type high-speed natural gas tube pipeline robot of three core eight Control system, brand-new three nuclear control pattern of the independent research based on ARM+ FPGA+DSP, controller is using ARM as processor core The heart, control FPGA realize the SERVO CONTROL of eight axle permagnetic synchronous motors, and DSP realizes the real-time processing of IMAQ data signal simultaneously Communicated with ARM, ARM is freed among the work of complexity, realizes that the real time position of eight axle three-phase permanent magnet synchronous motors is adopted Collection, and DSP interrupt is responded, realize data communication and storage live signal.
In order to solve the above technical problems, one aspect of the present invention is:Provide a kind of axle crawler belt of three core eight Formula high speed natural gas line robot control system, including battery, controller, permagnetic synchronous motor X, permagnetic synchronous motor Y, forever Magnetic-synchro motor Z, permagnetic synchronous motor R, permagnetic synchronous motor U, permagnetic synchronous motor W, permagnetic synchronous motor J, permanent-magnet synchronous Motor K, based on ccd image collecting unit, image storage unit, humidity collection unit, based on Hall effect pipeline inspection gather The described controller of electric current driving is provided separately in unit and pipe robot, described battery, and described controller uses three Nuclear control device, including ARM, FPGA and DSP, described ARM, FPGA and DSP carry out communication by wireless device and connected, described ARM and FPGA sends the first control signal, the second control signal, the 3rd control signal, the 4th control signal, the 5th control respectively Signal, the 6th control signal, the 7th control signal and the 8th control signal, believed by the first described control signal, the second control Number, the 3rd control signal, the 4th control signal, the 5th control signal, the 6th control signal, the 7th control signal and the 8th control Signal controls described permagnetic synchronous motor X, permagnetic synchronous motor Y, permagnetic synchronous motor Z, permagnetic synchronous motor R, forever respectively Magnetic-synchro motor U, permagnetic synchronous motor W, permagnetic synchronous motor J and permagnetic synchronous motor K signal synthesis after control pipe again The motion of pipeline robot, described communicated based on ccd image collecting unit and image storage unit with DSP is connected, described Humidity collection unit and based on Hall effect pipeline inspection collecting unit with ARM and FPGA communication connect.
In a preferred embodiment of the present invention, described battery uses lithium ion battery.
In a preferred embodiment of the present invention, the first described control signal, the second control signal, the 3rd control letter Number, the 4th control signal, the 5th control signal, the 6th control signal, the 7th control signal and the 8th control signal be PWM ripples Control signal.
In a preferred embodiment of the present invention, described ARM uses STM32F746;Described FPGA is used QUICKLOGIC;Described DSP uses TMS320F2812.
In a preferred embodiment of the present invention, described pipe robot includes robot housing, laser displacement senses Device, magnetic navigation sensor, left fork sensor, right fork sensor, Digital Magnetic Compass, three axis accelerometer, three-axis gyroscope And timing belt, described laser displacement sensor are separately mounted to the front end of robot housing, described left fork sensor The left and right ends below laser displacement sensor, described timing belt are separately positioned on machine respectively with right fork sensor The left and right sides of people's housing and respectively with permagnetic synchronous motor X, permagnetic synchronous motor Y, permagnetic synchronous motor Z, permanent-magnet synchronous Motor R, permagnetic synchronous motor U, permagnetic synchronous motor W, permagnetic synchronous motor J connect with permagnetic synchronous motor K, described magnetic conductance Boat sensor, Digital Magnetic Compass, three axis accelerometer and three-axis gyroscope are successively set on robot housing and are located at respectively Between permagnetic synchronous motor X and permagnetic synchronous motor Y.
In a preferred embodiment of the present invention, described laser displacement sensor include front laser displacement sensor, Left laser displacement sensor and right laser displacement sensor, described front laser displacement sensor are being arranged on robot housing just The centre position in front, described left laser displacement sensor and right laser displacement sensor are angularly disposed in robot shell respectively Left and right ends immediately ahead of body.
In a preferred embodiment of the present invention, described timing belt uses the wheel drive mode of eight axle eight, is by one Perimeter surface is provided with the closed ring crawler belt of equidistant tooth and corresponding belt wheel is formed.
In a preferred embodiment of the present invention, described high speed natural gas line robot control system is additionally provided with Position machine program, detect based on ARM motion control programs, based on DSP IMAQs and based on Hall effect pipe damage, it is described Host computer procedure also include pipeline read, position positioning and power information, it is described also to be included based on ARM motion control programs Controlled based on the axle permagnetic synchronous motor SERVO CONTROLs of FPGA eight, data storage and I/O, it is described based on DSP IMAQs and base In Hall effect pipe damage detection respectively with based on ccd image collecting unit and based on Hall effect pipeline inspection collecting unit Communication connection.
In a preferred embodiment of the present invention, described high speed natural gas line robot control system also includes photoelectricity Encoder, described photoelectric encoder are separately mounted to permagnetic synchronous motor X, permagnetic synchronous motor Y, permagnetic synchronous motor Z, forever On magnetic-synchro motor R, permagnetic synchronous motor U, permagnetic synchronous motor W, permagnetic synchronous motor J and permagnetic synchronous motor K.
The beneficial effects of the invention are as follows:The axle caterpillar type high-speed natural gas tube pipeline robot of the three core eight control system of the present invention System, in order to improve the utilization rate of the energy and reduce robot volume, the system efficiency and power density it is higher permanent magnetism it is same Step motor instead of the motors such as stepper motor, direct current generator;In order to improve system acceleration request, system is that these extraordinary operating modes add Enter two lower-powered permagnetic synchronous motors and played acceleration power-assisted effect, increase system dynamic characteristic;In order to improve system General hill climbing demands, system add two lower-powered permagnetic synchronous motors for these extraordinary operating modes and play climbing power-assisted again Effect, increase system dynamic characteristic;In order to improve the requirement of system span large obstacle, system be these extraordinary operating modes again Add two lower-powered permagnetic synchronous motors and play the effect of obstacle detouring power-assisted, increase system dynamic characteristic;In order to improve fortune Speed is calculated, ensures the stability and reliability of automatic pipeline robot system, the present invention introduces forever in the controller based on ARM Magnetic-synchro motor special integrated circuit FPGA and digital signal processor DSP, form brand-new three core based on ARM+ FPGA+DSP Controller, this controller take into full account effect of the battery in this system, the eight axle permanent magnetism that workload in control system is maximum Synchronous servo system gives FPGA completions, battery cell monitoring, path reading, deviation processing etc. and gives ARM processing, gives full play to ARM The characteristics of data processing speed is relatively fast, and the function such as image data acquiring and storage gives DSP completions, is so achieved that ARM, FPGA and DSP division of labor, while can also be communicated between three, data exchange and calling are carried out in real time.
Brief description of the drawings
Technical scheme in order to illustrate the embodiments of the present invention more clearly, make required in being described below to embodiment Accompanying drawing is briefly described, it should be apparent that, drawings in the following description are only some embodiments of the present invention, for For those of ordinary skill in the art, on the premise of not paying creative work, it can also be obtained according to these accompanying drawings other Accompanying drawing, wherein:
Fig. 1 is that the present invention is preferably implemented with the axle caterpillar type high-speed natural gas line robot control system one of three core eight The schematic diagram of example;
Fig. 2 is pipe robot two-dimensional structure schematic diagram;
Fig. 3 is Fig. 1 programme diagram;
Fig. 4 is pipe robot inspection schematic diagram.
Embodiment
The technical scheme in the embodiment of the present invention will be clearly and completely described below, it is clear that described implementation Example is only the part of the embodiment of the present invention, rather than whole embodiments.It is common based on the embodiment in the present invention, this area All other embodiment that technical staff is obtained under the premise of creative work is not made, belong to the model that the present invention protects Enclose.
As shown in figure 1, the embodiment of the present invention includes:
A kind of axle caterpillar type high-speed natural gas line robot control system of three core eight, including battery, controller, permanent magnetism are same Walk motor X, permagnetic synchronous motor Y, permagnetic synchronous motor Z, permagnetic synchronous motor R, permagnetic synchronous motor U, permagnetic synchronous motor W, permagnetic synchronous motor J, permagnetic synchronous motor K, based on ccd image collecting unit, image storage unit, humidity collection unit, Based on Hall effect pipeline inspection collecting unit and pipe robot, the described control of electric current driving is provided separately in described battery Device processed, described controller use three nuclear control devices, including ARM, FPGA and DSP, described ARM, FPGA and DSP to pass through wireless Device carries out communication connection, and described ARM and FPGA send the first control signal, the second control signal, the 3rd control letter respectively Number, the 4th control signal, the 5th control signal, the 6th control signal, the 7th control signal and the 8th control signal, by described First control signal, the second control signal, the 3rd control signal, the 4th control signal, the 5th control signal, the 6th control letter Number, the 7th control signal and the 8th control signal control described permagnetic synchronous motor X, permagnetic synchronous motor Y, permanent magnetism same respectively Walk motor Z, permagnetic synchronous motor R, permagnetic synchronous motor U, permagnetic synchronous motor W, permagnetic synchronous motor J and permagnetic synchronous motor The motion of control pipeline robot again, described based on ccd image collecting unit and image storage unit after K signal synthesis With DSP communicate connect, described humidity collection unit and based on Hall effect pipeline inspection collecting unit with ARM and FPGA Communication connection.Wherein, the first described control signal, the second control signal, the 3rd control signal, the 4th control signal, the 5th Control signal, the 6th control signal, the 7th control signal and the 8th control signal are PWM wave control signals.
In above-mentioned, described ARM uses STM32F746;Described FPGA uses QUICKLOGIC;Described DSP is used TMS320F2812。
The brand-new STM32F7 MCU series of products that STMicroelectronics is produced, be global first volume production and Possess the microcontroller of 32 bit ARM Cortex-M7 processors.Cortex-M7 is newest release in Cortex-M series of products And efficiency highest processor core, brand-new STM32F7 MCU be ST STM32 MCU series of products in efficiency highest one Product, Cortex-M7 cores and high-order peripheral unit are combined, application program efficiency, newly-increased New function can be lifted, extend battery In the life-span, ensure safety and reduce as far as possible using outer member to save the advantages of cost and space etc. are incomparable.
STM32F7 series of products include STM32F745 and STM32F746, and this two products, which are all equipped with, possesses floating-point operation The Cortex-M7 cores of unit and DSP extended functions, arithmetic speed highest 216MHz.STM32F7 MCU series of products are by ARM The advantage that Cortex-M7 efficiency surmounts early stage core (for example Cortex-M4) applies to ultimate attainment, and efficiency reaches nearly DSP two Times.
FPGA employs logical cell array LCA(Logic Cell Array)Such a new ideas, inside includes can Configure logic module CLB(Configurable Logic Block), output input module IOB(Input Output Block) And interconnector(Interconnect)Three parts.FPGA basic characteristics mainly have:Using FPGA design ASIC circuit, use Family need not throw piece production, with regard to the chip that can be shared;FPGA can do the pilot scale of other full customs or semi-custom ASIC circuit Print;There are abundant trigger and I/O pins inside FPGA;FPGA be the design cycle is most short in ASIC circuit, development cost most One of low, least risk device;FPGA uses high speed CHMOS techniques, low in energy consumption, can be compatible with CMOS, Transistor-Transistor Logic level.On The feature of stating allows design needs of the user according to oneself, and FPGA inside is carried out again by specific placement-and-routing's instrument Combination connection, designs the application specific integrated circuit of oneself within the most short time, is so reduced by cost, shortens the construction cycle. Because FPGA uses the design philosophy of software implementation to realize the design of hardware circuit, the system tool based on FPGA design is so allowed for There are good reusable and modification property.This brand-new design philosophy has gradually been applied in high performance exchange drive control On, and it is fast-developing.These characteristics cause FPGA to be particularly suitable in servo control, eight used especially for the present invention Axle natural gas line inspection SERVO CONTROL structure, the servo programe that can greatly reduce STM32F7 controllers are write.
TMS320F2812 is 32 fixed-point digital signal processings of novel high-performance based on the compatible C28x kernels of code Device, the instruction execution cycle of C28x kernels have reached 6.67ns, and maximum running frequency can reach 150MHz, and F2812 is integrated with Many peripheral hardwares, there is provided a whole set of on-chip system, its On-Chip peripheral mainly include 12,2 × 8 tunnel ADC (during most fast 80ns conversions Between), 2 road SCI, 1 road SPI, 1 road McBSP, 1 road eCAN interfaces etc., and carry two event manager modules (EVA, EVB).Separately Outside, the device also has 3 32 independent bit CPU timers, and up to 56 GPIO pins being independently programmable.F2812 is used Unified addressing mode, chip internal has 18K SARAM, including totally 5 memory blocks, each memory block are kept by MO, M1, L0, L1, H0 It is independent, different RAM blocks can be conducted interviews in the uniform machinery cycle, so as to reduce streamline time delay.And inside F2812 There are the FLASH of 128K words, address space 3D8000h~3F7FFFh, suitable for low-power consumption, high performance control system.In addition F2812 provides external memory storage expansion interface (XINTF), facilitates carry out system extension, and its addressing space can reach 1MB; These characteristics cause F2812 while possessing the data-handling capacity of digital signal processor brilliance, to have again and be suitable to control Piece in peripheral hardware and interface, can be widely applied in various high performance systems controls, These characteristics make it that TMS320F2812 is special Not Shi He crusing robot figure collection, image storage and positional information storage.
Automatic detection is carried out in order to accurate guide duct robot, the present invention is using two sets of sensors navigation patterns (A set of Magnetic Sensor navigation, a set of front laser displacement sensor navigation), pipe robot two-dimensional structure such as Fig. 2 of the invention It is shown:Described pipe robot includes robot housing K, laser displacement sensor, magnetic navigation sensor ME1, left fork biography Sensor ME2, right fork sensor ME3, Digital Magnetic Compass M1, three axis accelerometer A1, three-axis gyroscope G1 and timing belt T, Described laser displacement sensor is separately mounted to robot housing K front end, described left fork sensor ME2 and right fork The left and right ends below laser displacement sensor, described timing belt T are separately positioned on robot shell to sensor ME3 respectively Body K left and right sides and respectively with permagnetic synchronous motor X, permagnetic synchronous motor Y, permagnetic synchronous motor Z, permagnetic synchronous motor R, permagnetic synchronous motor U, permagnetic synchronous motor W, permagnetic synchronous motor J connect with permagnetic synchronous motor K, and described magnetic navigation passes Sensor ME1, Digital Magnetic Compass M1, three axis accelerometer A1 and three-axis gyroscope G1 are successively set on robot housing K respectively And between permagnetic synchronous motor X and permagnetic synchronous motor Y.Wherein, described laser displacement sensor includes front laser Displacement transducer LSF, left laser displacement sensor LSL and right laser displacement sensor LSR, described front laser displacement sensing Device LSF is arranged on the centre position immediately ahead of robot housing K, described left laser displacement sensor LSL and right laser displacement Sensor LSR angularly disposed left and right ends immediately ahead of robot housing K respectively.
The magnetic navigation sensor ME1 moment detects the magnetic stripe in pipeline, and sensor is the first navigation criterion according to this, works as magnetic stripe When the deviation distance that is not present or navigates is larger, left laser displacement sensor sensor LSL and right laser displacement sensor sensor LSR collective effects judge the distance of direction of advance and left and right tube wall, and provide navigation foundation as pipe robot linear motion, Front laser displacement sensor sensor LSF, which is provided according to for the differentiation of pipe robot advance barrier and stopped to do, to be sentenced According to.Left fork Magnetic Sensor ME2 and right fork sensor ME3 detects ground fork mark respectively, then respectively as cross pipe The criterion that road turns left or turned right, and natural gas tube pipeline robot can accurately be compensated in this position, this is for pipe Pipeline robot inspection pipeline calculation position is most important.
Digital Magnetic Compass M1 is that it can measure carrier using the intrinsic directivity measurement spatial attitude angle in earth's magnetic field 3 d pose data:Horizontal course, pitching, roll, it can be widely used for needing to obtain platform(Or carrier)Attitude angle Occasion, Digital Magnetic Compass M1 have the advantages of small volume, course precision are high, slant range is wide, frequency response high and low power consumption, are well suited for For not only being had higher requirements to course precision while but also to power consumption, the occasion of finite volume.In order to improve natural gas line machine The stability that device people navigates in closed conduit walking process, realizes the adjust automatically and independent navigation ability of posture, and subtracts The error that few accelerometer A1 and three-axis gyroscope G1 long term simulations are brought, the present invention is in natural gas line robot servo hardware system Three axis accelerometer A1+ three-axis gyroscope G1+ Digital Magnetic Compass M1 inertial navigation system is used in system.In pipe robot row Whole three axis accelerometer A1, three-axis gyroscope G1 and Digital Magnetic Compass M1, the three axis accelerometer opened is used for during walking pipeline The angular acceleration of three directions of advance of pipe robot is measured, three-axis gyroscope G1 is used for measuring three advance sides of pipe robot To angular speed, Digital Magnetic Compass M1 be used for measure pipe robot spatial attitude angle.When the posture of pipe robot occurs When change exceedes setting threshold values, in a new sampling period controller just immediately to its position compensation, pipe robot is avoided In the process of walking because tilting generation that is excessive and translating into phenomenon, stability during its quick walking navigation is improved;Pipeline Robot be able to can just be obtained independent of any external information in closed conduit its acceleration in navigational coordinate system, The information such as speed, yaw angle and position, caused navigation information continuity is good and noise is very low, greatly enhances pipeline The autonomous inertial navigation ability of robot.When pipe robot reads cross pipeline entrance, pipe robot will realize left-hand rotation 90 either turn right 90 action, in this case, three axis accelerometer and three-axis gyroscope coordinate Digital Magnetic Compass can be with The accurate angle for calculating robot rotation, it ensure that its accuracy turned.When pipe robot is in climbing inspection, three Axis accelerometer A1 and three-axis gyroscope G1 coordinates Digital Magnetic Compass M1 accurately to measure ramp angle, and ARM is according to this angle Degree can accurately calculate power needed for climbing, ensure that pipe robot can complete inspection pipeline task according to command speed. When pipe robot is in climbing barrier inspection, three axis accelerometer A1 and three-axis gyroscope G1 coordinate Digital Magnetic Compass M1 The angle of climbing barrier can be accurately measured, ARM can accurately calculate according to this angle ascends required power, ensures Pipe robot can complete the task of climbing barrier according to command speed.
Toothed belt transmission is the closed ring adhesive tape and corresponding belt wheel institute group that equidistant tooth is provided with by an inner peripheral surface Into.During motion, be meshed transmission motion and power with tooth with the teeth groove of belt wheel, is a kind of engaged transmission, thus is passed with gear The various advantages of dynamic, Chain conveyer and Belt Drive.Toothed belt transmission has accurate gearratio, no slippage, can obtain constant Fast ratio, can precision drive, stable drive, can shock-absorbing, noise is small, transmission efficiency, is not required to lubricate, pollution-free, is particularly suitable for Be not allow for pollution and the more severe occasion of working environment under normal work, compact-sized particularly suitable spinning transmission, therefore The present invention forms the wheel drive mode of eight axle eight using timing belt technology.
The present invention have developed a kind of eight wheels by eight rare earth permanent-magnet synchronization motor differential drivings to solve the above problems The core natural gas tube pipeline robot of crawler type three, the servo control algorithm of eight rare earth permanent-magnet synchronization motors are completed by FPGA, increase The rapidity of system-computed, two of which power larger permagnetic synchronous motor X and permagnetic synchronous motor Y are the positive constant speed of robot Energy requirement is provided when spending inspection, six lower-powered permanent magnet synchronous electric acc powers are equal in addition, two small-powers therein Motor Z and motor R coordinates two larger motor X and motor Y to provide power, two low-power machines when robot accelerates inspection It is dynamic that U and motor W coordinates motor X, motor Y, motor U and motor W to be provided when robot climbs and either ascends small obstacle Power, two low-power machine J and motor K coordinate motor X, motor Y, motor Z, motor R, motor U and motor W large-scale in robot Across obstacle provides power when either demand power is larger, and the power of each motor realizes energy profit by controller Optimal with rate, multiple wheels of left and right sides respectively by conjugating caterpillar belt structure mechanical linkages, by it take by natural gas tube pipeline robot Belt sensor carries out inspection major gas pipeline.
The present invention has independently been invented based on the complete of ARM+ FPGA+DSP on the premise of external Dynamic matrix control thought is absorbed New three nuclear control pattern.Controller principle figure such as Fig. 1 of this secondary design:For controller using ARM as processor core, control FPGA is real Showing the SERVO CONTROL of eight axle permagnetic synchronous motors, DSP realizes the real-time processing of IMAQ data signal and communicated with ARM, ARM frees among the work of complexity, realizes the real time position collection of eight axle three-phase permanent magnet synchronous motors, and responds DSP Interrupt, realize data communication and storage live signal.
As shown in figure 3, described high speed natural gas line robot control system is additionally provided with host computer procedure, is based on ARM motion control programs, based on DSP IMAQs and based on Hall effect pipe damage detect, described host computer procedure Also include pipeline reading, position positioning and power information, it is described also to include being based on the axles of FPGA eight based on ARM motion control programs Permagnetic synchronous motor SERVO CONTROL, data storage and I/O controls, it is described based on DSP IMAQs and based on Hall effect pipe Road fault localization is connected with being communicated based on ccd image collecting unit and based on Hall effect pipeline inspection collecting unit respectively.
For the above-mentioned purpose, the present invention takes following technical scheme, in order to improve the utilization rate of the energy and reduce robot Volume, the system instead of the motors such as stepper motor, direct current generator with the higher permagnetic synchronous motor of efficiency and power density; In order to improve system acceleration request, system adds two lower-powered permagnetic synchronous motors and played for these extraordinary operating modes to be added Fast power-assisted effect, increases system dynamic characteristic;In order to improve the general hill climbing demands of system, system is that these extraordinary operating modes add again Two lower-powered permagnetic synchronous motors play climbing power-assisted effect, increase system dynamic characteristic;In order to improve system across The more requirement of large obstacle, system add two lower-powered permagnetic synchronous motors for these extraordinary operating modes and played again Obstacle detouring power-assisted acts on, and increases system dynamic characteristic;In order to improve arithmetic speed, ensure the stability of automatic pipeline robot system And reliability, the present invention introduce permagnetic synchronous motor special integrated circuit FPGA and data signal in the controller based on ARM Processor DSP, forms the brand-new three nuclear control device based on ARM+ FPGA+DSP, and this controller takes into full account that battery is at this The effect of system, FPGA completions, battery cell monitoring, road are given eight maximum axle Permanent magnet synchronous servo systems of workload in control system Footpath reading, deviation processing etc. give ARM processing, give full play to the characteristics of ARM data processing speeds are relatively fast, and view data The function such as collection and storage gives DSP completions, is so achieved that ARM, FPGA and DSP division of labor, while also may be used between three To be communicated, data exchange and calling are carried out in real time.
As shown in figure 4, for the nuclear control devices of ARM+ FPGA+DSP tri- designed herein, under power-on state, ARM First to the battery SOC of robot(State-of-charge)Judged, if battery power is relatively low, controller can send alarm signal; If battery power is higher, first the information such as inspection natural gas line length and radius are inputed to by USB interface by PC ARM, then pipe robot be placed to pipe detection mouth, pipe robot is introduced into self-locking state, waits inlet valve F1 to beat Open;After when front, laser displacement sensor LSF determines that valve is opened, pipe robot enters buffer area to be checked, then entrance Valve F1 is closed, and inlet valve F2 is opened, and pipe robot enters pipe detection region;The IMAQ that pipe robot carries System, humidity collection system and pipe damage detection device are opened, and pipe robot is according to setting speed along inspection route Magnetic navigation sensor ME1 parameters are input to FPGA by fast inspection, ARM, and FPGA converts these magnetic navigation sensors ME1 parameters For pipe robot, in the case where specifying patrolled and examined track, permagnetic synchronous motor X, permagnetic synchronous motor Y, permagnetic synchronous motor Z and permanent magnetism are same Walk motor R distance, speed and the acceleration to be run, current feedbacks, photoelectric encoder feedback, three axles of the FPGA in conjunction with motor Accelerometer A1, three-axis gyroscope G1 and Digital Magnetic Compass M1 feedback, it is same to obtain four permanent magnetism through internal servo control algorithm The PWM wave control signals of motor control are walked, realize the real-time servo control of four permanent magnet synchronous motors;DSP is adopted in real time by CCD Collection duct size information simultaneously stores, if some position has a question to inspection, will be communicated with ARM, ARM sends cutoff command and passed through FPGA makes pipe robot stop, and then the state of pipe-line system is entered by the collection of DSP secondary images and fault localization device Row judges.If pipe robot is completed or right-hand rotation inspection subsidiary conduit again returns to main pipeline, ARM will pass through FPGA opens power-assisted permagnetic synchronous motor Z and permagnetic synchronous motor R, according to magnetic navigation sensor ME1 parameters and rate request two The secondary PWM for adjusting pipe robot permagnetic synchronous motor X, permagnetic synchronous motor Y, permagnetic synchronous motor Z and permagnetic synchronous motor R Output, the real-time servo control of four permanent magnet synchronous motors is realized, in order to reduce energy resource consumption, DSP will before main channel is returned to Close CCD information gathering;If pipe robot is in inspection process, three axis accelerometer A1, three-axis gyroscope G1 and numeral Magnetic compass M1 detect pipe robot be in climbing inspection pipeline, ARM will be opened by FPGA power-assisted permagnetic synchronous motor Z, Permagnetic synchronous motor R, permagnetic synchronous motor U, permagnetic synchronous motor W, FPGA adjust according to navigation sensor parameter and rate request Permagnetic synchronous motor X, permagnetic synchronous motor Y, permagnetic synchronous motor Z, permagnetic synchronous motor R, the permanent magnetism of homogeneous tube pipeline robot are same Motor U and permagnetic synchronous motor W PWM outputs are walked, realize the real-time servo control of six permanent magnet synchronous motors;If pipe machine When device people wants climbing barrier thing during inspection, three axis accelerometer A1, three-axis gyroscope G1 and Digital Magnetic Compass M1 detections It is in pipe robot and climbs up and over state, ARM will opens power-assisted permagnetic synchronous motor Z, permagnetic synchronous motor R, forever by FPGA Magnetic-synchro motor U, permagnetic synchronous motor J and permagnetic synchronous motor K, FPGA will according to magnetic navigation sensor ME1 parameters and speed Ask the adjustment permagnetic synchronous motor X of pipe robot, permagnetic synchronous motor Y, permagnetic synchronous motor Z, permagnetic synchronous motor R, forever Magnetic-synchro motor U, permagnetic synchronous motor W, permagnetic synchronous motor J and permagnetic synchronous motor K PWM outputs, realize eight permanent magnetism The real-time servo control of synchronous motor.
Reference picture 1, Fig. 2, Fig. 3 and Fig. 4, its specific function are realized as follows:
1)After pipe robot power supply opening, ARM can be judged battery SOC, if battery SOC is relatively low, ARM will FPGA is forbidden to work, six permanent magnet synchronous motors PWM ripples are blocked, while alarm sensor will work and send alarm signal; If battery SOC is normal, pipe robot, which enters, treats working condition, waits work order;
2)Manually the information such as duct length, radius and pipeline topographic map are passed to by USB interface by PC handle ARM, duct size information is anticipated by ARM, then the starting end of artificial conduit robot to pipe detection, in order to accurately lead Walking of the aviation management pipeline robot in closed conduct, ARM first turn on pipe robot and are based on the axle tops of three axis accelerometer A1+ tri- Spiral shell instrument G1+ Digital Magnetic Compass M1 inertial navigation pattern;
3)Pipe robot ARM begins through magnetic navigation sensor ME1 and reads area navigation magnetic stripe, is sensed according to magnetic navigation Device ME1 value of feedback is compared with actual set central value, and this deviation is inputed to FPGA by ARM, and FPGA is this straggling parameter It is converted into pipe robot permagnetic synchronous motor X, permagnetic synchronous motor Y, permagnetic synchronous motor Z, forever in the case where specifying patrolled and examined track Magnetic-synchro motor R, permagnetic synchronous motor U and permagnetic synchronous motor W distance, speed and the acceleration to be run, FPGA in conjunction with The current feedback of motor, photoelectric encoder feedback, three axis accelerometer A1, three-axis gyroscope G1 and Digital Magnetic Compass M1 it is anti- Feedback, through internal servo control algorithm obtain six permanent magnet synchronous motors control PWM wave control signals, make pipe robot along Navigation magnetic stripe fast forwards through, while adjusts the pid parameter of internal SERVO CONTROL program in real time according to peripheral environment FPGA, makes system Easily realize segmentation P, PD, PID control and nonlinear PID controller;Front laser displacement passes during pipe robot advance Sensor LSF is by work, and ARM detects the distance D of pipe robot and front inlet valve F1 in real time, then in stably stop scope It is interior that six permanent magnet synchronous motors pwm control signals are blocked by FPGA, allow pipe robot automatic stopping, then original place self-locking;
4)When front, laser displacement sensor LSF detects that inlet valve F1 is opened, pipe robot will be opened automatic Cruise mode, the distance that ARM moves real-time record pipe robot along magnetic stripe, when it is determined that robot completely into area to be checked Behind domain, inlet valve F1 will be again switched off, after natural gas leakage device detects that inlet valve F1 is completely closed, inlet valve F2 It will open, now front laser displacement sensor LSF is by the state of inlet valve F2 in front of secondary judgement, it is determined that front valve is beaten Open it is errorless after, pipe robot initially enter region of patrolling and examining detection natural gas line inside actual conditions;
5)After pipe robot enters detection zone, ARM reads three axis accelerometer A1, three-axis gyroscope G1 sums first Word magnetic compass M1 value of feedback, if ARM passes through three axis accelerometer A1, three-axis gyroscope G1 and Digital Magnetic Compass M1 feedback It was found that pipe robot is in climbing inspection state, in order to ensure that pipe robot can complete inspection pipeline according to command speed Task, according to system speed and acceleration requirement, ARM calculates power needed for climbing first, is then communicated with FPGA, FPGA knots Current of electric, photoelectric encoder, three axis accelerometer A1, three-axis gyroscope G1 and Digital Magnetic Compass M1 feedback are closed, is adjusted in real time Whole robot permagnetic synchronous motor X, permagnetic synchronous motor Y, permagnetic synchronous motor Z, permagnetic synchronous motor R, permagnetic synchronous motor U With permagnetic synchronous motor W pwm control signal, pipe robot is set to meet constant speed inspection requirements for pipes;In climbing detection process In, ARM according to magnetic navigation sensor ME1 feedback, read the actual positional information of pipe robot, three axis accelerometer A1, Three-axis gyroscope G1 and Digital Magnetic Compass M1 numerical value, and compared with setting position, determine pipe robot it is off-center away from From with inclined angle, ARM is in conjunction with current of electric feedback, photoelectric encoder feedback, three axis accelerometer A1, three-axis gyroscope G1 and Digital Magnetic Compass M1 feedback, the PWM of six permanent magnet synchronous motors is obtained according to its internal three Close loop servo control program Wave control signal, and adjust pipe robot posture in real time by drive circuit, make pipe robot stable operation in magnetic stripe Near the heart, ARM simultaneously records the air line distance that pipe robot has been run in real time, and the distance correction sensor S moment detects ground Amendment mark, once reading correcting device, the positional distance information of ARM records will be defined by the positional information of amendment mark, The caused site error of pipe robot when walking is eliminated, when ARM passes through three axis accelerometer A1, three-axis gyroscope G1 Find that pipe robot has completed climbing action and entered normal inspection environment with Digital Magnetic Compass M1, FPGA controller is blocked forever Magnetic-synchro motor Z, permagnetic synchronous motor R, permagnetic synchronous motor U and permagnetic synchronous motor W pwm control signal, enter system Enter permagnetic synchronous motor X and permagnetic synchronous motor Y driving conditions;
6)After pipe robot enters normal detection zone, if pipe robot left fork during main pipeline inspection Sensor ME2 reads ground turning mark, and ARM believes according to the position of ground installation amendment pipe robot in the duct first Breath, eliminate pipe robot walking error;FPGA compiles according to system speed and acceleration requirement in conjunction with current of electric, photoelectricity Code device, three axis accelerometer A1, three-axis gyroscope G1 and Digital Magnetic Compass M1 feedback, it is same that pipe robot permanent magnetism is adjusted in real time Motor X and permagnetic synchronous motor Y pwm control signal is walked, pipe robot is stopped in distance R, then FPGA combines three It is left 90 degree that axis accelerometer A1, three-axis gyroscope G1 and Digital Magnetic Compass M1 feedback rotate in place pipe robot, pipeline Robot is cruised into left turnout;The front laser displacement sensor LSF moment opens and examined in left turnout detection process Survey doubtful tamper and detect the distance with front terminal;ARM is recorded in real time according to front laser displacement sensor LSF feedback Forward travel distance, and make robot effectively stop in effective range before the terminal of turnout, robot three axis accelerometer A1, 180 degree is rotated in place under three-axis gyroscope G1 and Digital Magnetic Compass M1 controls to prepare to return to main channel;Because left turnout has been patrolled Inspection finishes, in order that pipe robot is returned quickly in main pipeline, FPGA opens power-assisted permagnetic synchronous motor Z and permanent-magnet synchronous Motor R, enter system and accelerate return state;In whole return course, FPGA requires according to system speed and acceleration, so Current of electric, photoelectric encoder, three axis accelerometer A1, three-axis gyroscope G1 and Digital Magnetic Compass M1 feedback are combined afterwards, it is real When adjust pipe robot permagnetic synchronous motor X, permagnetic synchronous motor Y, permagnetic synchronous motor Z and permagnetic synchronous motor R PWM Control signal, pipe robot is can speed up along landing ground magnetic stripe and return to main pipeline;Into after normal inspection environment, FPGA envelopes Permagnetic synchronous motor Z, permagnetic synchronous motor R pwm control signal are locked, system is entered permagnetic synchronous motor X and permanent-magnet synchronous Motor Y driving conditions;
7)After pipe robot enters normal detection zone, if pipe robot right trouble during main pipeline inspection Oral instructions sensor ME3 reads ground turning mark, and ARM believes according to the position of ground installation amendment pipe robot in the duct first Breath, eliminate pipe robot walking error;FPGA is according to system speed and acceleration requirement, with reference to current of electric, photoelectric coding Device, three axis accelerometer A1, three-axis gyroscope G1 and Digital Magnetic Compass M1 feedback, adjust pipe robot permanent-magnet synchronous in real time Motor X and permagnetic synchronous motor Y pwm control signal, pipe robot is set to be stopped in distance R, then FPGA combines three axles It is right 90 degree that accelerometer A1, three-axis gyroscope G1 and Digital Magnetic Compass M1 feedback rotate in place robot, pipe robot Cruised into right turnout;In right turnout detection process, the front laser displacement sensor LSF moment opens and detected doubtful Tamper simultaneously detects the distance with front terminal;ARM recorded in real time according to front laser displacement sensor LSF feedback advance away from From, and robot is effectively stopped in effective range before the terminal of turnout, pipe robot is in three axis accelerometer A1, three 180 degree is rotated in place under axle gyroscope G1 and Digital Magnetic Compass M1 controls to prepare to return to main channel;Due to the inspection of right turnout Finish, in order that pipe robot is returned quickly in main pipeline, FPGA opens power-assisted permagnetic synchronous motor Z and permanent magnet synchronous electric Machine R, enter system and accelerate return state;In whole return course, ARM requires according to system speed and acceleration, then With reference to current of electric, photoelectric encoder, three axis accelerometer A1, three-axis gyroscope G1 and Digital Magnetic Compass M1 feedback, in real time Adjust pipe robot permagnetic synchronous motor X, permagnetic synchronous motor Y, permagnetic synchronous motor Z and permagnetic synchronous motor R PWM controls Signal processed, pipe robot is can speed up along landing ground magnetic stripe and return to main pipeline;Into after normal inspection environment, controller envelope Permagnetic synchronous motor Z, permagnetic synchronous motor R pwm control signal are locked, system is entered permagnetic synchronous motor X and permanent-magnet synchronous Motor Y driving conditions;
8)After pipe robot enters normal detection zone, if pipe robot left fork during main pipeline inspection Sensor ME2 and right fork sensor ME3 reads ground turning mark simultaneously, illustrates that pipe robot enters the friendship of cross pipeline Prong, positional informations of the ARM first according to ground installation amendment robot in the duct, eliminate pipe robot walking error; FPGA is according to system speed and acceleration requirement, then in conjunction with current of electric, photoelectric encoder, three axis accelerometer A1, three axles Gyroscope G1 and Digital Magnetic Compass M1 feedback, adjust pipe robot permagnetic synchronous motor X's and permagnetic synchronous motor Y in real time Pwm control signal, pipe robot is set to be cruised into right turnout, ARM is according to front laser displacement sensor LSF feedback Record forward travel distance in real time, and pipe robot is effectively stopped in effective range before the terminal of turnout, pipe robot 180 degree, which is rotated in place, under three axis accelerometer A1, three-axis gyroscope G1 and Digital Magnetic Compass M1 control returns to main channel, FPGA Power-assisted permagnetic synchronous motor Z and permagnetic synchronous motor R is opened, system is entered four-wheel and accelerates return state;When right laser displacement When higher magnitude change occur in sensor LSR and left laser displacement sensor LSL feedback, illustrate that pipe robot comes into Cross mouth position, now ARM start to correct the error of pipe robot walking, ensureing pipe robot positional distance information just Really, when higher magnitude change occur again in right laser displacement sensor LSR and left laser displacement sensor LSL feedback, say Open conduit robot comes into left fork pipeline, and now ARM starts to correct the error of pipe robot walking, ensures pipeline Robot location's range information is correct, and FPGA is according to system speed and acceleration requirement, then in conjunction with current of electric, photoelectric coding Device, three axis accelerometer A1, three-axis gyroscope G1 and Digital Magnetic Compass M1 feedback, adjust pipe robot permanent-magnet synchronous in real time Motor X and permagnetic synchronous motor Y pwm control signal, pipe robot is set to be cruised into left turnout, ARM is according to front Laser displacement sensor LSF feedback records forward travel distance in real time, and makes pipe machine in effective range before the terminal of turnout Device people is effectively stopped, pipe robot original place under three axis accelerometer A1, three-axis gyroscope G1 and Digital Magnetic Compass M1 control Rotate 180 degree and return to main channel, FPGA opens power-assisted permagnetic synchronous motor Z and permagnetic synchronous motor R, system is added into four-wheel Fast return state;When higher magnitude change occur in right laser displacement sensor LSR and left laser displacement sensor LSL feedback When, illustrate that pipe robot has returned to cross mouth position, ARM starts to correct the error of pipe robot walking, ensures pipeline Robot location's range information is correct, and controller after pipe robot one segment distance of walking by crossroad is steadily parked in, then It is turn 90 degrees in three axis accelerometer A1, three-axis gyroscope G1 and Digital Magnetic Compass M1 control bottom left and comes back to main pipeline detection zone Domain;
9)Pipe robot is in whole detection zone constant speed motion process, and ARM is first according to the anti-of magnetic navigation sensor ME1 Feedback, read the actual positional information of pipe robot, three axis accelerometer A1, three-axis gyroscope G1 and Digital Magnetic Compass M1 number Value, and compared with setting position, determines the off-center distance of pipe robot and inclined angle, and this deviation signal of ARM is defeated Enter to FPGA, this straggling parameter is converted into pipe robot permagnetic synchronous motor X and forever in the case where specifying patrolled and examined track by FPGA Magnetic-synchro motor Y distance, speed and the acceleration to be run, current feedback, photoelectric encoder feedback in conjunction with motor, three axles Accelerometer A1, three-axis gyroscope G1 and Digital Magnetic Compass M1 feedback, it is same to obtain two permanent magnetism through internal servo control algorithm The PWM wave control signals of motor control are walked, and adjust pipe robot posture in real time by drive circuit, make pipe robot steady Surely magnetic stripe immediate vicinity is operated in, while adjusts the pid parameter of internal SERVO CONTROL program in real time according to peripheral environment FPGA, is made System easily realizes segmentation P, PD, PID control and nonlinear PID controller;What ARM and in real time record pipe robot had been run Air line distance, the distance correction sensor S moment detects ground amendment mark, once correcting device is read, the position of ARM records Range information will be defined by the positional information of amendment mark, eliminate the caused site error of pipe robot when walking;
10)If pipe robot is either run into magnetic stripe fracture in normal motion by external interference, magnetic passes Sensor ME1 can not read ground magnetic strip information, and now right laser displacement sensor LSR and left laser displacement sensor LSL will Work is opened, the distance input measured to ARM, is obtained off-centered position, ARM is inclined by this by the two compared with setting value Difference signal inputs to FPGA, and this straggling parameter is converted into pipe robot permanent magnet synchronous electric in the case where specifying patrolled and examined track by FPGA Machine X and permagnetic synchronous motor Y distance, speed and the acceleration to be run, the current feedback, photoelectric encoder in conjunction with motor are anti- The feedback of feedback, three axis accelerometer A1, three-axis gyroscope G1 and Digital Magnetic Compass M1, two are obtained through its internal servo control algorithm The PWM ripples of permanent magnet synchronous motors control, and adjust pipe robot posture in real time by drive circuit, make pipe robot steady Surely operate near pipeline planar central, adjust the pid parameter of internal SERVO CONTROL program in real time according to peripheral environment FPGA, make System easily realizes segmentation P, PD, PID control and nonlinear PID controller;The straight line that the real-time recorder people of ARM have run away from From, the distance correction sensor S moment detects ground amendment mark, once correcting device is read, ARM record position range informations To be defined by the positional information of amendment mark, eliminate site error during pipe robot walking;
11)In pipe robot motion process, the CCD moment in IMAQ opens, DSP real-time storages CCD collections Image, DSP is compared the image of collection with the standard pipe information set, if larger mistake occurs in the two comparison result Difference, in order to prevent maloperation, DSP sends interrupt requests immediately, and ARM makes an immediate response DSP interrupt, and with communication, by allowing pipeline Robot stops, and DSP makes CCD secondary acquisitions duct size information and is compared to obtain latest result with standard pipe information, then DSP and ARM, FPGA controller communicate, and FPGA opens permagnetic synchronous motor X, permagnetic synchronous motor Y, permagnetic synchronous motor Z and forever Magnetic-synchro motor R makes pipe robot be in boost phase, and FPGA blocks permagnetic synchronous motor Z and forever after setting speed is reached Magnetic-synchro motor R pwm control signal, pipe robot is in permagnetic synchronous motor X and permagnetic synchronous motor Y two axles and drive Dynamic state simultaneously continues to move ahead along pipeline navigation marker;
12)In pipe robot motion process, the humidity sensor moment in humidity collection system opens, and ARM is real-time The humidity information that storage humidity sensor collects, and be compared with the standard pipe humidity information of setting, if the two compares There is larger error to result, in order to prevent maloperation, ARM and FPGA is communicated, and passes through SERVO CONTROL program master inside FPGA Dynamic adjustment two permanent magnet synchronous motors X and permagnetic synchronous motor Y PWM wave control signals, reducing the speed of pipe robot makes It adjusts the pid parameter of internal SERVO CONTROL program according to peripheral environment FPGA in real time at a slow speed by the region having a question, make be System easily realizes segmentation P, PD, PID control and nonlinear PID controller;ARM sends interrupt requests to DSP immediately simultaneously, and DSP is stood Respond ARM to interrupt, and increase the comparison of aqueous water in CCD pipelines collection information, DSP stores the doubtful image of steam in the region And actual position information;After by suspicious region, then DSP and ARM, FPGA controller communicate, and FPGA opens permanent-magnet synchronous Motor X, permagnetic synchronous motor Y, permagnetic synchronous motor Z and permagnetic synchronous motor R make pipe robot be in boost phase, when up to FPGA blocks permagnetic synchronous motor Z and permagnetic synchronous motor R pwm control signal after to setting speed, makes at pipe robot In permagnetic synchronous motor X and permagnetic synchronous motor Y two axle driving conditions and continue to move ahead along pipeline navigation marker;
13)In pipe robot motion process, the front laser displacement sensor LSF moment opens, the real-time before processings of ARM Square positional information, when there is anomalies in front of conduit running, front laser displacement sensor LSF probe values will appear from exception, ARM and FPGA is communicated, and passes through SERVO CONTROL program active accommodation two permanent magnet synchronous motors X inside FPGA and permanent magnet synchronous electric Machine Y PWM wave control signals, reducing the speed of pipe robot makes it drive towards barrier at a slow speed, real according to peripheral environment FPGA When adjust the pid parameter of internal SERVO CONTROL program, system is easily realized segmentation P, PD, PID control and non-linearity PID control System;ARM sends interrupt requests to DSP immediately simultaneously, and DSP makes an immediate response ARM interruptions, and increases and blocked up in CCD pipelines collection information The comparison of plug thing, DSP stores the doubtful image of blocking and actual position information in the region, due to the pipe robot of this secondary design It is more wheel crawler structures, so ARM control pipelines robot can be moved ahead by clearing the jumps and can continue;ARM according to Image feedback result calculates the power of obstacle detouring demand, then pipe robot by FPGA simultaneously open permagnetic synchronous motor X, Permagnetic synchronous motor Y, permagnetic synchronous motor Z, permagnetic synchronous motor R, permagnetic synchronous motor U, permagnetic synchronous motor W, permanent magnetism are same Motor J and permagnetic synchronous motor K is walked, while passes right laser displacement sensor LSR and left laser displacement sensor LSL and opens as pipe The positioning of pipeline robot leaping over obstacles object location provides navigation foundation, and after by suspicious region, FPGA closes permagnetic synchronous motor Z, permagnetic synchronous motor R, permagnetic synchronous motor U, permagnetic synchronous motor W, permagnetic synchronous motor J and permagnetic synchronous motor K drive Dynamic signal, makes pipe robot be in permagnetic synchronous motor X and permagnetic synchronous motor Y two axle driving conditions and is led along pipeline Navigation mark will continues to move ahead;
14)In pipe robot motion process, the pipeline inspection sensor based on Hall effect is by work, when pipeline is transported There is exception in row front probe value, and ARM and FPGA is communicated, and passes through SERVO CONTROL program two permanent magnetism of active accommodation inside FPGA Synchronous motor X and permagnetic synchronous motor Y PWM wave control signals, reducing the speed of pipe robot makes it drive towards pipeline at a slow speed Suspicious region is damaged, the pid parameter of internal SERVO CONTROL program is adjusted in real time according to peripheral environment FPGA, system is easily realized It is segmented P, PD, PID control and nonlinear PID controller;ARM sends interrupt requests to DSP immediately simultaneously, and DSP makes an immediate response in ARM It is disconnected, and the comparison of pipe damage in CCD pipelines collection information is increased, if DSP has found that doubtful pipe damage image will store this Image, if DSP does not have found pipe damage image, suspicious lesion actual position information will be recorded, and mark outer damage, when logical After crossing suspicious region, ARM and FPGA is communicated, and FPGA controller opens permagnetic synchronous motor X, permagnetic synchronous motor Y, permanent-magnet synchronous Motor Z and permagnetic synchronous motor R makes robot be in boost phase, and FPGA blocks permagnetic synchronous motor after setting speed is reached Z and permagnetic synchronous motor R pwm control signal, pipe robot is set to be in permagnetic synchronous motor X's and permagnetic synchronous motor Y Two axle driving conditions simultaneously continue to move ahead along pipeline navigation marker;
15)If pipe robot is swashed in normal motion by ARM by right laser displacement sensor LSR and a left side When Optical displacement sensor LSL feedback finds that pipe robot is in non-equal diameter pipe, controller will give up magnetic navigation sensing Device ME1 feedback information, right laser displacement sensor LSR and left laser displacement sensor LSL input the distance measured in real time To ARM, ARM will communicate in FPGA, and then FPGA obtains off-centered position compared with setting value, FPGA is according in it Portion's SERVO CONTROL program obtains the PWM wave control signals of two permanent magnet synchronous motors, and adjusts pipeline in real time by drive circuit Robot pose, make pipe robot stable operation near pipeline planar central, according in the real-time adjustment of peripheral environment FPGA The pid parameter of portion's SERVO CONTROL program;ARM records the air line distance that pipe robot has been run, distance correction sensing in real time The device S moment detects ground amendment mark, once reading correcting device, ARM record positions range information will be with amendment mark Positional information is defined, and eliminates site error during pipe robot walking;
16)In pipe robot motion process, ARM can store the location of passed through pipeline the moment and either pass through The reference point crossed, FPGA this location parameter be converted into pipe robot specify patrolled and examined track under permagnetic synchronous motor X and Distance, speed and the acceleration that permagnetic synchronous motor Y to be run, current feedback in conjunction with motor, photoelectric encoder feedback, three Axis accelerometer A1, three-axis gyroscope G1 and Digital Magnetic Compass M1 feedback, two are obtained through servo control algorithm inside FPGA The PWM wave control signals of permagnetic synchronous motor control, make pipe robot quickly be moved ahead according to setting speed, while according to periphery Environment FPGA adjusts the pid parameter of internal SERVO CONTROL program in real time, system is easily realized segmentation P, PD, PID control and non- Linear PID controlling;
17)In motion process if pipe robot detective distance solve occur endless loop will be sent to ARM interruption please Ask, ARM can do very first time response to interruption, and ARM will forbid pipe robot, and ARM is according to pipeline in Information revision of adjusting the distance Magnetic stripe navigation marker feeds back and right laser displacement sensor LSR and left laser displacement sensor LSL feedback, real-time by FPGA Permanent-magnet synchronous X-motor and permagnetic synchronous motor Y speed are adjusted, ensures that pipe robot slowly rolls away from towards outlet, and abandon All collecting works;
18)It is same mounted in permagnetic synchronous motor X, permagnetic synchronous motor Y, permagnetic synchronous motor Z, permagnetic synchronous motor R, permanent magnetism Photoelectric encoder on step motor U, permagnetic synchronous motor W, permagnetic synchronous motor J and permagnetic synchronous motor K can export its position Signal A and position signalling B, the position signalling A pulses of photoelectric encoder and B pulsed logics state often change once, the position in ARM 1 can be added according to the traffic direction of motor or subtract 1 by putting register;The position signalling A pulses of photoelectric encoder and B pulses and Z When pulse is low level simultaneously, just produces an INDEX signal and give ARM internal registers, record the absolute of permagnetic synchronous motor Position, it is then convert into particular location of the pipe robot in pipe detection system;
19)Pipe robot calculates battery SOC in real time in running ARM controller according to its internal algorithm, if control When device processed finds that power supply energy is relatively low, ARM can communicate with FPGA, DSP, and close ccd image collecting work and image by DSP Work is stored, and permagnetic synchronous motor X and permagnetic synchronous motor Y PWM outputs are adjusted by SERVO CONTROL program inside FPGA, Pipe robot is driven towards exit with slower speed, ensure that pipe robot can smoothly arrive exit;
20)During pipe robot inspection, if servo controller detects that the torque of permagnetic synchronous motor occurs Pulsation, due to the orientation on rotor flux that the present invention uses, therefore FPGA can be easy to compensate this interference, reduce motor and turn Influence of the square to pipe robot motion process;
21)During pipe robot drives towards outlet valve, when its front laser displacement sensor LSF carried understands Carve and detect its displacement between valve, when it is determined that outlet valve F3 will open cruise mode in open mode, pipe robot, Controller ARM records the distance that pipe robot has moved along magnetic stripe in real time, when it is determined that pipe robot completely into going out Behind mouth region to be checked, outlet valve F3 will be closed, and natural gas aspirator will aspirate the natural gas situation in region to be checked, when natural When gas leakage device is not detected by region to be checked and has natural gas residual, outlet valve F4 will be opened, and now front laser displacement passes Sensor LSF by secondary judgement front exit valve F4 state, it is determined that front valve open it is errorless after, pipe robot rolls inspection away from Test tube road, detection terminal is returned to, wait next sense command.
The invention has the advantages that:
1:In pipe robot motion process, the effect of battery in this system is taken into full account, based on ARM+ The nuclear control device moment of FPGA+DSP tri- is all being monitored and computing to its state, both avoids due to heavy-current discharge and causes Lithium ion battery overaging phenomenon generation, can effectively predict the energy of battery again, be provided for pipe robot inspection It is effectively ensured;
2:Eight permagnetic synchronous motors of pipe robot are handled based on rotor field-oriented SERVO CONTROL by FPGA so that Control fairly simple, substantially increase arithmetic speed, it is longer to solve the problems, such as that control algolithm takes the ARM cycles of operation, shortens Construction cycle is short, and program transportability ability is strong;
3:The present invention realizes full SMD components material substantially, realizes veneer control, not only saves control panel occupancy Space, and be advantageous to the mitigation of pipe robot volume and weight;
4:The pipe robot navigation system of the present invention instead of in traditional robot system often using permagnetic synchronous motor Stepper motor, direct current generator, DC brushless motor, because its small volume, efficiency are higher so that pipe robot volume Can further it reduce, energy utilization rate greatly improves;
5:Because permagnetic synchronous motor uses vector controlled so that speed adjustable range is wider, and contrast of regulating speed is steady, even in The pulsating torque of low-speed stage motor is also very small, is advantageous to the dynamic property of raising system;
6:Because this controller is using the mass data and algorithm of DSP processing figure collections and storage, eight are handled by FPGA The SERVO CONTROL of axle permagnetic synchronous motor, ARM is freed from hard work amount, effectively prevent " running for program Fly ", antijamming capability greatly enhances;
7:In control, FPGA can adjust eight axle permagnetic synchronous motors in good time according to pipe robot periphery running situation Pid parameter inside servo, segmentation P, PD, PID control and nonlinear PID controller are realized, when making low speed operation in system satisfaction The switching of speed;
8:Equipped with humidity collection system on pipe robot, the humidity exceptions area in tunnel can be detected easily Domain, it can effectively find the presence of pipeline water droplet;
9:Equipped with image capturing system on pipe robot, it can detect that pipeline internal pipeline corrosion etc. is different easily Reason condition, and effectively store its image;
10:Image store function based on DSP facilitates staff to read inspection after causing pipe robot completion task As a result, pipeline corrupted information and particular location easily can be read from storage result, then on-call maintenance;
11:Equipped with the fault localization acquisition system based on Hall effect on pipe robot, can detect easily The abnormal conditions such as pipeline external corrosive pipeline and damage, are advantageous to pipeline of pinpointing the problems early;
12:Three axis accelerometer A1, three-axis gyroscope G1 coordinate Digital Magnetic Compass M1 can effective accurately detecting pipeline machine People deviates the angle of inclination of pipeline plane, and ARM can be monitored and accordingly adjust permanent-magnet synchronous by FPGA at the moment to this angle The PWM ripples output of motor, effectively control the posture of pipe robot;
13:Turning navigation marker in ground coordinates left and right sides laser displacement sensor to allow system easily to read pipeline letter Breath, is advantageous to the elimination of positioning and site error of the pipe robot in complicated pipeline;
14:Three axis accelerometer A1, three-axis gyroscope G1 coordinate Digital Magnetic Compass M1 effectively can accurately measure pipeline machine The turning navigation that angle when people turns is pipe robot in complicated pipeline improves reliable basis;
15:Three axis accelerometer A1, three-axis gyroscope G1 coordinate Digital Magnetic Compass M1 can effective accurately detecting pipeline machine Angle when people climbs, ARM can be detected at the moment to this angle, and effectively open assist motor and have for pipe robot inspection Acclive pipeline provides power demand;
16:The addition of magnetic navigation sensor and laser displacement sensor causes system navigation to have certain redundancy, pole The big stability for improving pipe robot;
17:The addition of multiple power-assisted wheels causes the power performance adjustment of system has may be selected so that pipe robot can To meet the power demand under different operating modes so that the adaptability of pipe robot is strengthened;
18:The ARM moment adjusts the power of each motor according to duty requirements dynamic, each motor is all operated in optimal shape Under condition, be advantageous to improve the utilization rate of energy;
19:The addition of crawler belt technology effectively increases the area that pipe robot contacts in the duct, makes pipe robot Can be effectively by with obstruction object area, improving environmental suitability;
20:Three axis accelerometer A1, three-axis gyroscope G1 coordinate Digital Magnetic Compass M1 can effective accurately detecting pipeline machine People ascends angle during large obstacle, and ARM can be detected at the moment to this angle, and effectively opens multiple assist motors as pipe Pipeline robot passes through barrier and provides power demand;
21:Three axis accelerometer A1, three-axis gyroscope G1 coordinate Digital Magnetic Compass M1 effectively to measure pipe robot and existed Acceleration, speed and the direction skew that line navigation occurs, are improved for inertial navigation of the pipe robot in complicated pipeline Reliable basis.
To sum up tell, the axle caterpillar type high-speed natural gas line robot control system of three core eight of the invention, in order to improve The utilization rate and reduction robot volume, the system of the energy instead of with the higher permagnetic synchronous motor of efficiency and power density The motors such as stepper motor, direct current generator;In order to improve system acceleration request, system is that these extraordinary operating modes add two power Less permagnetic synchronous motor, which plays, accelerates power-assisted effect, increases system dynamic characteristic;In order to improve the general hill climbing demands of system, System adds two lower-powered permagnetic synchronous motors for these extraordinary operating modes and plays climbing power-assisted effect again, increases system Dynamic characteristics;In order to improve the requirement of system span large obstacle, system is that these extraordinary operating modes add two work(again The less permagnetic synchronous motor of rate plays the effect of obstacle detouring power-assisted, increases system dynamic characteristic;In order to improve arithmetic speed, ensure certainly The stability and reliability of dynamic pipe robot system, it is special that the present invention introduces permagnetic synchronous motor in the controller based on ARM With control chip FPGA and digital signal processor DSP, the brand-new three nuclear control device based on ARM+ FPGA+DSP is formed, this control Device processed takes into full account effect of the battery in this system, the eight axle Permanent magnet synchronous servo systems that workload in control system is maximum Give FPGA completions, battery cell monitoring, path reading, deviation processing etc. and give ARM processing, give full play to ARM data processing speeds The characteristics of relatively fast, and image data acquiring and storage etc. function give DSP completion, be so achieved that ARM, FPGA with The DSP division of labor, while can also be communicated between three, data exchange and calling are carried out in real time.
Embodiments of the invention are the foregoing is only, are not intended to limit the scope of the invention, it is every to utilize this hair The equivalent structure or equivalent flow conversion that bright description is made, or directly or indirectly it is used in other related technology necks Domain, it is included within the scope of the present invention.

Claims (1)

1. a kind of axle caterpillar type high-speed natural gas line robot control system of three core eight, it is characterised in that including battery, control Device, permagnetic synchronous motor X, permagnetic synchronous motor Y, permagnetic synchronous motor Z, permagnetic synchronous motor R, permagnetic synchronous motor U, permanent magnetism Synchronous motor W, permagnetic synchronous motor J, permagnetic synchronous motor K, adopted based on ccd image collecting unit, image storage unit, humidity Collect unit, based on Hall effect pipeline inspection collecting unit and pipe robot, electric current driving is provided separately in described battery Described controller, described controller use three nuclear control devices, including ARM, FPGA and DSP, described ARM, FPGA and DSP Communication connection is carried out by wireless device, described ARM and FPGA send the first control signal, the second control signal, respectively Three control signals, the 4th control signal, the 5th control signal, the 6th control signal, the 7th control signal and the 8th control signal, By the first described control signal, the second control signal, the 3rd control signal, the 4th control signal, the 5th control signal, the 6th Control signal, the 7th control signal and the 8th control signal control respectively described permagnetic synchronous motor X, permagnetic synchronous motor Y, Permagnetic synchronous motor Z, permagnetic synchronous motor R, permagnetic synchronous motor U, permagnetic synchronous motor W, permagnetic synchronous motor J and permanent magnetism are same The motor K signal synthesis motion of control pipeline robot again afterwards is walked, it is described to be deposited based on ccd image collecting unit and image Storage unit is communicated with DSP and connected, described humidity collection unit and based on Hall effect pipeline inspection collecting unit and ARM Communicate and connect with FPGA, described battery uses lithium ion battery, the first described control signal, the second control signal, the 3rd Control signal, the 4th control signal, the 5th control signal, the 6th control signal, the 7th control signal and the 8th control signal are equal For PWM wave control signals, described ARM uses STM32F746;Described FPGA uses QUICKLOGIC;Described DSP is used TMS320F2812, described pipe robot include robot housing, laser displacement sensor, magnetic navigation sensor, left fork Sensor, right fork sensor, Digital Magnetic Compass, three axis accelerometer, three-axis gyroscope and timing belt, described laser position Displacement sensor is separately mounted to the front end of robot housing, and described left fork sensor and right fork sensor are respectively positioned at sharp Left and right ends below Optical displacement sensor, described timing belt are separately positioned on the left and right sides and difference of robot housing With permagnetic synchronous motor X, permagnetic synchronous motor Y, permagnetic synchronous motor Z, permagnetic synchronous motor R, permagnetic synchronous motor U, permanent magnetism Synchronous motor W, permagnetic synchronous motor J connect with permagnetic synchronous motor K, described magnetic navigation sensor, Digital Magnetic Compass, three axles Accelerometer and three-axis gyroscope are successively set on robot housing and are located at permagnetic synchronous motor X and permanent magnet synchronous electric respectively Between machine Y, described laser displacement sensor includes front laser displacement sensor, left laser displacement sensor and right laser position Displacement sensor, described front laser displacement sensor are arranged on the centre position immediately ahead of robot housing, and a described left side is swashed Optical displacement sensor and right laser displacement sensor angularly disposed left and right ends immediately ahead of robot housing respectively, it is described Timing belt uses the wheel drive mode of eight axle eight, is to be provided with the closed ring crawler belt of equidistant tooth and corresponding by an inner peripheral surface Belt wheel is formed, and described high speed natural gas line robot control system is additionally provided with host computer procedure, is moved and controlled based on ARM Processing procedure sequence, detect based on DSP IMAQs and based on Hall effect pipe damage, described host computer procedure also includes pipeline Reading, position positioning and power information, it is described also to include being based on the axle permanent magnet synchronous electrics of FPGA eight based on ARM motion control programs Machine SERVO CONTROL, data storage and I/O controls, it is described to be detected based on DSP IMAQs and based on Hall effect pipe damage Connected respectively with being communicated based on ccd image collecting unit and based on Hall effect pipeline inspection collecting unit, described high speed day Right feed channel robot control system also includes photoelectric encoder, and described photoelectric encoder is separately mounted to permagnetic synchronous motor X, permagnetic synchronous motor Y, permagnetic synchronous motor Z, permagnetic synchronous motor R, permagnetic synchronous motor U, permagnetic synchronous motor W, permanent magnetism On synchronous motor J and permagnetic synchronous motor K.
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