CN105922259B - A kind of quick natural gas line robot control system of axle crawler type of three core four - Google Patents
A kind of quick natural gas line robot control system of axle crawler type of three core four Download PDFInfo
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- CN105922259B CN105922259B CN201610400321.XA CN201610400321A CN105922259B CN 105922259 B CN105922259 B CN 105922259B CN 201610400321 A CN201610400321 A CN 201610400321A CN 105922259 B CN105922259 B CN 105922259B
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
- B25J9/161—Hardware, e.g. neural networks, fuzzy logic, interfaces, processor
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/005—Manipulators mounted on wheels or on carriages mounted on endless tracks or belts
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
- B25J9/1697—Vision controlled systems
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
- F16L55/00—Devices or appurtenances for use in, or in connection with, pipes or pipe systems
- F16L55/26—Pigs or moles, i.e. devices movable in a pipe or conduit with or without self-contained propulsion means
- F16L55/28—Constructional aspects
- F16L55/30—Constructional aspects of the propulsion means, e.g. towed by cables
- F16L55/32—Constructional aspects of the propulsion means, e.g. towed by cables being self-contained
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
- G05D1/0248—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means in combination with a laser
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0259—Control of position or course in two dimensions specially adapted to land vehicles using magnetic or electromagnetic means
- G05D1/0263—Control of position or course in two dimensions specially adapted to land vehicles using magnetic or electromagnetic means using magnetic strips
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
- F16L2101/00—Uses or applications of pigs or moles
- F16L2101/30—Inspecting, measuring or testing
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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
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- Manipulator (AREA)
Abstract
The invention discloses a kind of quick natural gas line robot control system of axle crawler type of three core four, including controller, described controller uses three nuclear control devices, including ARM, IRMCK203 and DSP, and described ARM, IRMCK203 and DSP carry out mutually communication connection.Through the above way, the quick natural gas line robot control system of the axle crawler type of three core four of the present invention, brand-new three nuclear control pattern of the independent research based on ARM+IRMCK203+DSP, controller is using ARM as processor core, the SERVO CONTROL of four axle permagnetic synchronous motors is realized by IRMCK203, DSP realizes the real-time processing of IMAQ data signal and communicated with ARM, ARM is freed among the work of complexity, realize the real time position collection of four axle three-phase permanent magnet synchronous motors, and DSP interrupt is responded, realize data communication and storage live signal.
Description
Technical field
The present invention relates to the field of large-scale pipeline robot, more particularly to a kind of quick natural gas tube of axle crawler type of three core four
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 one of m of length 25, deep 6 m hollow place after blast；The oil and gas pipeline in China was also once
Accident repeatedly occurs, pipeline occurs the accidents such as explosion, leakage, stopping transportation and not only causes huge property loss, and jeopardizes life
State 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；
（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, self plane of robot None- identified and the angle of pipeline principal plane, causes to go out during robot ambulation
Now tilt, or even overturn sometimes, cause mission failure；
（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 the type of drive only with two power wheels, the power adjustment capability of robot is poor, in order to meet
Acceleration under complex state so that the power of single motor is larger, and the space not only taken up is larger, and sometimes one
Cause the phenomenon of " low load with strong power " to occur in the state of a little relative requirements energy are relatively low, can not meet under system Biodiversity operating mode
Power demand requirement so that dynamic performance reduces；
（9）Due to accelerometer by integration and quadratic integral obtain speed and the drift angle of robot, due to multiple product
Divide and cause position of the pipe robot in closed conduit that certain mistake sometimes occurs.
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 crawler type of three core four quick natural gas tube pipeline robot
Control system, brand-new three nuclear control pattern of the independent research based on ARM+ IRMCK203+DSP, controller is using ARM as processing
Device core, the SERVO CONTROL of four axle permagnetic synchronous motors is realized by IRMCK203, and DSP realizes the real-time of IMAQ data signal
Handle and communicated with ARM, ARM is freed among the work of complexity, realizes the real-time of four axle three-phase permanent magnet synchronous motors
Station acquisition, 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 four
The quick natural gas line robot control system of formula, including robot housing, laser displacement sensor, magnetic navigation sensor, a left side
Fork sensor, right fork sensor, three-axis gyroscope, timing belt, permagnetic synchronous motor X, permagnetic synchronous motor Y, permanent magnetism are same
Motor R and permagnetic synchronous motor Z is walked, described laser displacement sensor is separately mounted to the front end of robot housing, described
Magnetic navigation sensor be arranged on robot housing and positioned at the lower section of laser displacement sensor, described left fork sensor
The left and right ends below magnetic navigation sensor, described timing belt are separately positioned on robot respectively with right fork sensor
The left and right sides of housing and respectively with permagnetic synchronous motor X, permagnetic synchronous motor Y, permagnetic synchronous motor Z and permanent magnet synchronous electric
Machine R connections, described three-axis gyroscope are arranged on robot housing and are located at permagnetic synchronous motor X and permagnetic synchronous motor Y
Between, in addition to controller, described controller uses three nuclear control devices, including ARM, IRMCK203 and DSP, described ARM,
IRMCK203 and DSP carries out mutually communication connection, and described ARM and IRMCK203 send the first control signal, the second control respectively
Signal, the 3rd control signal and the 4th control signal processed, by the first described control signal, the second control signal, the 3rd control
Signal and the 4th control signal control described permagnetic synchronous motor Y, permagnetic synchronous motor X signal, permanent magnet synchronous electric respectively
The motion of control pipeline robot again after machine Z and permagnetic synchronous motor R synthesis.
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 four 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, the first described control signal, the second control signal, the 3rd control signal
It is PWM wave control signals with the 4th control signal.
In a preferred embodiment of the present invention, described ARM uses STM32F746；Described DSP is used
TMS320F2812。
In a preferred embodiment of the present invention, described quick natural gas line robot control system also includes electricity
Pond, 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 controller of electric current driving is provided separately in described battery, described to gather list based on ccd image
Member and image storage unit are with DSP communication connections, described humidity collection unit and based on the collection of Hall effect pipeline inspection
Unit connects with ARM and IRMCK203 communications.
In a preferred embodiment of the present invention, described battery uses lithium ion battery.
In a preferred embodiment of the present invention, described quick 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 IRMCK203 tetra-, data storage and I/O, it is described based on DSP IMAQs
Detected respectively with based on Hall effect pipe damage with being gathered based on ccd image collecting unit and based on Hall effect pipeline inspection
Unit communications connect.
In a preferred embodiment of the present invention, described quick natural gas line robot control system also includes photoelectricity
Encoder, described photoelectric encoder be separately mounted to permagnetic synchronous motor X, permagnetic synchronous motor Y, permagnetic synchronous motor Z and
On permagnetic synchronous motor R.
The beneficial effects of the invention are as follows：The quick natural gas tube pipeline robot control system of the axle crawler type of three core four 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 the acceleration of system, the system adds two power-assisteds
Permagnetic synchronous motor；In order to improve arithmetic speed, ensure the stability and reliability of automatic pipeline robot system, the present invention exists
Permagnetic synchronous motor special integrated circuit IRMCK203 and digital signal processor DSP are introduced in controller based on ARM, is formed
Brand-new three nuclear control device based on ARM+ IRMCK203+DSP, this controller take into full account effect of the battery in this system,
Four maximum axle servo-drive systems of workload give IRMCK203 completions, battery cell monitoring, path reading, deviation processing in control system
Etc. giving ARM processing, the characteristics of ARM data processing speeds are relatively fast is given full play to, and the work(such as image data acquiring and storage
DSP completions can be given, are so achieved that ARM, IRMCK203 and DSP division of labor, while can also be led between three
News, 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 quick natural gas line robot control system one of the axle crawler type of three core four
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 quick natural gas line robot control system of axle crawler type of three core four, including battery, controller, permanent magnetism are same
Step motor X, permagnetic synchronous motor Y, permagnetic synchronous motor Z, permagnetic synchronous motor R, deposited based on ccd image collecting unit, image
It is storage unit, humidity collection unit, independent based on Hall effect pipeline inspection collecting unit and pipe robot, described battery
There is provided electric current driving described controller, described controller uses three nuclear control devices, including ARM, IRMCK203 and DSP, institute
ARM, IRMCK203 and the DSP stated carries out mutually communication connection, and described ARM and IRMCK203 send the first control letter respectively
Number, the second control signal, the 3rd control signal and the 4th control signal, by the first described control signal, the second control signal,
3rd control signal and the 4th control signal control described permagnetic synchronous motor Y, permagnetic synchronous motor X, permanent-magnet synchronous respectively
Motor Z, permagnetic synchronous motor R the signal synthesis motion of control pipeline robot again afterwards, it is described to be gathered based on ccd image
Unit and image storage unit are communicated with DSP and connected, and described humidity collection unit and are adopted based on Hall effect pipeline inspection
Collect unit to connect with ARM and IRMCK203 communications.Wherein, described battery uses lithium ion battery；The first described control
Signal, the second control signal, the 3rd control signal and the 4th control signal are PWM wave control signals.
In above-mentioned, described ARM uses STM32F746；Described DSP uses 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.
IRMCK203 is surface permanent magnetic synchronous motor closed-loop control IC, unlike traditional MCU or DSP schemes,
IRMCK203 is used completely without programming and is based on motor control engine（Motion Control Engine, MCE）'s
Hardware circuit realizes the Field orientable control algorithm of permagnetic synchronous motor.MCE includes pi regulator, vector calculus, Clark
All functional units needed for the closed-loop controls such as conversion, institute is functional to be realized by hardware circuit completely, therefore with quick meter
Calculation ability and splendid dynamic property.In addition to current closed-loop and velocity close-loop control function based on velocity estimation,
IRMCK203 also have it is automatic must open, dephasing detection, with busbar voltage monitoring control for brake and various driving defencive functions,
It is all configurable that it, which simulates I/O and part number I/O, and all PORT COMs can operate to internal register.With
Family can be according to the actual conditions of oneself（Used motor and loading condition）To configure various driving parameters（Such as：Pi regulator
Parameter, current feedback scope, PWM carrier frequency etc.）With monitoring system state；IRMCK203 can coordinate with MCU or PC realizes master
Slave pattern, it runs the instruction for accepting main frame completely, and These characteristics are especially suitable for coordinating control high-speed permanent magnetic synchronous electric with ARM
Machine, the cycle that control algolithm takes arm processor is reduced, increase the stability and rapidity of system.
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 navigation sensor navigation, a set of laser displacement sensor navigation）, pipe robot two-dimensional structure such as Fig. 2 of the invention
It is shown：Described pipe robot includes robot housing K, laser displacement sensor, magnetic navigation sensor ME1, Zuo Cha
Oral instructions sensor ME2, right fork sensor ME3, three-axis gyroscope G1, timing belt T, permagnetic synchronous motor X, permagnetic synchronous motor Y,
Permagnetic synchronous motor R and permagnetic synchronous motor Z, before described laser displacement sensor is separately mounted to robot housing
End, described magnetic navigation sensor are arranged on robot housing and positioned at the lower section of laser displacement sensor, described left trouble
The left and right ends below magnetic navigation sensor, described timing belt are set respectively respectively for oral instructions sensor and right fork sensor
Robot housing left and right sides and respectively with permagnetic synchronous motor X, permagnetic synchronous motor Y, permagnetic synchronous motor Z and forever
The R connections of magnetic-synchro motor, described three-axis gyroscope G1 are arranged on robot housing K and positioned at permagnetic synchronous motor X and forever
Between magnetic-synchro motor Y.Wherein, described laser displacement sensor includes front laser displacement sensor LSF, left laser displacement
Sensor LSL and right laser displacement sensor LSR, described front laser displacement sensor LSF are being arranged on robot housing K just
The centre position in front, described left laser displacement sensor LSL and right laser displacement sensor LSR are angularly disposed in machine respectively
Left and right ends immediately ahead of device people's housing K.
The magnetic navigation sensor ME1 moment detects the magnetic stripe in pipeline, and sensor is the first navigation criterion according to this, works as magnetic stripe
When the deviation distance that is not present or navigates is larger, left laser displacement sensor LSL and right laser displacement sensor LSR collective effects are sentenced
Disconnected direction of advance and the distance of left and right tube wall, and provide navigation foundation, front laser displacement as pipe robot linear motion
Sensor LSF, which is provided according to and stopped for the differentiation of pipe robot advance barrier, does criterion.Left fork Magnetic Sensor ME2
Ground fork mark is detected respectively with right fork sensor ME3, then turns left respectively as cross pipeline or that turns right sentences
According to, and natural gas tube pipeline robot can accurately be compensated in this position, this is calculated for pipe robot inspection pipeline
Position is most important.
In order to improve the stability that natural gas tube pipeline robot navigates in closed conduit walking process, posture oneself is realized
Dynamic adjustment and independent navigation ability, and the error that accelerometer long term simulation is brought is reduced, the present invention is in natural gas line machine
In people's servo hardware system accelerometer A1 is instead of with three-axis gyroscope G1.Whole process is opened during pipe robot walks pipeline
Open three-axis gyroscope G1, three-axis gyroscope G1 is used for measuring the angular speed of three directions of advance of pipe robot, controller according to
The angular speed measured obtains its angle of inclination by integration.When the posture of pipe robot changes more than setting threshold values,
In a new sampling period controller just immediately to its position compensation, pipe robot is avoided in the process of walking because tilting
Generation that is excessive and translating into phenomenon, improves stability during its quick walking navigation；If three-axis gyroscope G1 is accumulated
Point, and it is transformed in navigational coordinate system, pipe robot can be independent of any external information just in closed conduit
Can obtain the information such as its speed in navigational coordinate system, yaw angle and position, caused navigation information continuity it is good and
And noise is very low, the autonomous inertial navigation ability of pipe robot is greatly enhanced.When pipe robot reads cross pipeline
During entrance, robot will realize the action of 90 or right-hand rotation 90, and in this case, three-axis gyroscope can be counted accurately
The angle of robot rotation is calculated, ensure that its accuracy turned.
Timing belt T transmissions are that the closed ring crawler belt and corresponding belt wheel institute group of equidistant tooth are 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.Timing belt T transmissions have 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 four axle eight using timing belt technology.
The present invention have developed one kind by four rare-earth permanent-magnetic synchronous electricity to solve the problems, such as that domestic pipeline robot is present
The quick natural gas tube pipeline robot of the core of four axles, eight wheel crawler three of machine differential driving, the servo of four rare earth permanent-magnet synchronization motors
Control algolithm is completed by special sport control chip, increases the rapidity of system-computed, and four auxiliary wheels are distinguished by timing belt
The larger permanent-magnet synchronous driving motor mechanical linkages with the power of left and right two, two lower-powered permagnetic synchronous motors in addition are only
The function of playing power adjustment is just opened when having robot to need to accelerate, multiple wheels of left and right sides pass through crawler belt mechanical chain respectively
Connect；Natural gas tube pipeline robot carries out inspection major gas pipeline by its carry sensors.
The present invention has independently invented on the premise of external Dynamic matrix control thought is absorbed and has been based on ARM+ IRMCK203+DSP
Brand-new three nuclear control pattern.Controller principle figure such as Fig. 1 of this secondary design：Controller using ARM as processor core, by
IRMCK203 realizes the SERVO CONTROL of four axle permagnetic synchronous motors, DSP realize the real-time processing of IMAQ data signal and with
ARM is communicated, and ARM is freed among the work of complexity, realizes the real time position collection of four axle three-phase permanent magnet synchronous motors,
And DSP interrupt is responded, realize data communication and storage live signal.
As shown in figure 3, described quick 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 IRMCK203 based on ARM motion control programs
Four axle permagnetic synchronous motor SERVO CONTROLs, data storage and I/O controls, it is described to be imitated based on DSP IMAQs and based on Hall
Pipe damage detection is answered to connect respectively with communicating based on ccd image collecting unit and based on Hall effect pipeline inspection collecting unit
Connect.
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 the acceleration of system, the system adds two power-assisted permagnetic synchronous motors；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 IRMCK203 and digital signal processor DSP, brand-new three nuclear control based on ARM+ IRMCK203+DSP is formed
Device, this controller take into full account effect of the battery in this system, the four axle servo-drive systems that workload in control system is maximum
Give IRMCK203 completions, battery cell monitoring, path reading, deviation processing etc. and give ARM processing, give full play to ARM data processings
The characteristics of speed is relatively fast, and image data acquiring and storage etc. function give DSP completion, be so achieved that ARM,
The IRMCK203 and DSP division of labor, while can also be communicated between three, data exchange and calling are carried out in real time.
As shown in figure 4, for the nuclear control devices of ARM+ IRMCK203+DSP tri- designed herein, under power-on state,
ARM controller is first to robot battery SOC（State-of-charge）Judged, if battery power is relatively low, controller can send report
Alert signal；It is first by USB interface that the information such as inspection natural gas line length and radius is defeated by PC if battery power is higher
Enter to ARM, then pipe robot is placed to pipe detection mouth, and 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
Navigation sensor parameter is input to IRMCK203 by fast inspection, ARM, same by bis- adjustment pipe robot permanent magnetism of IRMCK203
Motor X and permagnetic synchronous motor Y PWM outputs are walked, realize the real-time servo control of two permanent magnet synchronous motors, DSP passes through CCD
Duct size information is gathered in real time and is stored, if some position has a question to inspection, will be communicated with ARM, ARM sends cutoff command
And pipe robot is stopped by IRMCK203, then by the collection of DSP secondary images and fault localization device to pipeline system
The state of system is judged.If pipe robot completes either right-hand rotation inspection subsidiary conduit and again returns to main pipeline
When, ARM will open power-assisted permagnetic synchronous motor Z and permagnetic synchronous motor R by IRMCK203, according to magnetic navigation sensor ME1
Parameter and the secondary adjustment pipe robot permagnetic synchronous motor X of rate request, permagnetic synchronous motor Y, permagnetic synchronous motor Z and forever
Magnetic-synchro motor R PWM outputs, the real-time servo control of four permanent magnet synchronous motors is realized, in order to reduce energy resource consumption, is being returned
Return main channel before DSP will close CCD information gathering.
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
IRMCK203 is forbidden to work, four navigation permagnetic synchronous motor PWM wave control signals will be blocked, while alarm sensor is by work
Make and send alarm signal；If battery SOC is normal, pipe robot, which enters, treats working condition；
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 inertial navigation of the pipe robot based on three-axis gyroscope
Pattern；
3）Pipe robot ARM begins through magnetic navigation sensor ME1 and reads area navigation magnetic stripe, magnetic navigation sensor
ME1 value of feedback is compared with actual set central value, and ARM inputs to IRMCK203 after this deviation is converted, by IRMCK203
According to its internal SERVO CONTROL program adjust automatically permagnetic synchronous motor X, permagnetic synchronous motor Y, permagnetic synchronous motor Z and permanent magnetism
Synchronous motor R PWM outputs, make pipe robot be fast forwarded through along navigation magnetic stripe, while real-time according to peripheral environment, ARM
The PI parameters of SERVO CONTROL program inside IRMCK203 are adjusted, the front laser displacement sensor during pipe robot advance
For LSF by work, ARM detects the distance D of pipe robot and front inlet valve F1 in real time, then leads in the range of stably stop
Cross IRMCK203 and 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 controller ARM moves real-time record pipe robot along magnetic stripe, when it is determined that robot completely into
Behind region to be checked, inlet valve F1 will be again switched off, and after natural gas leakage device detects that inlet valve F1 is completely closed, be entered
Mouthful valve F2 will be opened, now in front of laser displacement sensor LSF by secondary judgement front inlet valve F2 state, it is determined that before
After square valve opening is errorless, pipe robot initially enters region of patrolling and examining and starts to detect actual conditions inside natural gas line；
5）After pipe robot enters detection zone, if pipe robot, during main pipeline inspection, left fork passes
Sensor ME2 reads ground turning mark, positional informations of the ARM first according to ground installation amendment pipe robot in the duct,
Eliminate pipe robot walking error；IRMCK203 is according to system speed and acceleration requirement, then in conjunction with current of electric, photoelectricity
The feedback of encoder and three-axis gyroscope G1, robot permagnetic synchronous motor X and motor Y pwm control signal are adjusted in real time, is made
Pipe robot stops in distance R, and then IRMCK203 combinations three-axis gyroscope G1 feedback makes robot rotate in place a left side
90 degree, pipe robot is cruised into left turnout；In left turnout detection process, during the laser displacement sensor LSF of front
Carve and open and detect doubtful tamper and the distance of detection and front terminal；ARM senses LSF feedback according to front laser displacement
Record forward travel distance in real time, and pipe robot is effectively stopped by IRMCK203 in effective range before the terminal of turnout
Car, pipe robot rotate in place 180 degree under three-axis gyroscope control and prepare to return to main channel；Due to the inspection of left turnout
Finish, in order that pipe robot is returned quickly in main pipeline, ARM opens power-assisted permagnetic synchronous motor Z by IRMCK203
With permagnetic synchronous motor R, system is entered four-wheel and accelerate return state；In whole return course, IRMCK203 is according to system
Speed and acceleration requirement, then in conjunction with the feedback of current of electric, photoelectric encoder and three-axis gyroscope G1, adjust pipeline in real time
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；
6）After pipe robot enters detection zone, if pipe robot, during main pipeline inspection, right fork passes
Sensor ME3 reads ground turning mark, positional informations of the ARM first according to ground installation amendment pipe robot in the duct,
Eliminate pipe robot walking error；IRMCK203 is according to system speed and acceleration requirement, then in conjunction with current of electric, photoelectricity
The feedback of encoder and three-axis gyroscope G1, 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 stopped in distance R, then IRMCK203 combinations three-axis gyroscope G1 feedback makes pipe
Pipeline robot rotates in place 90 degree of the right side, and pipe robot is cruised into right turnout；In right turnout detection process, front is swashed
The Optical displacement sensor LSF moment opens and detects doubtful tamper and detect the distance with front terminal；ARM is according to front laser
Displacement transducer LSF feedback records forward travel distance in real time, and is passing through IRMCK203 in effective range before the terminal of turnout
Pipe robot is set effectively to stop, pipe robot rotates in place 180 degree under three-axis gyroscope G1 controls and prepares to return to main lead to
Road；Due to right turnout, inspection finishes, in order that pipe robot is returned quickly in main pipeline, ARM passes through IRMCK203
Power-assisted permagnetic synchronous motor Z and permagnetic synchronous motor R is opened, system is entered four-wheel and accelerates return state；Returned entirely
Cheng Zhong, IRMCK203 are according to system speed and acceleration requirement, then in conjunction with current of electric, photoelectric encoder and three-axis gyroscope
G1 feedback, robot permagnetic synchronous motor X, permagnetic synchronous motor Y, permagnetic synchronous motor Z and permanent magnet synchronous electric are adjusted in real time
Machine R pwm control signal, pipe robot is can speed up along landing ground magnetic stripe and return to main pipeline；
7）Pipe robot is in whole detection zone motion process, the first feedbacks according to magnetic navigation sensor ME1 of ARM,
The actual positional information of pipe robot and three-axis gyroscope G1 numerical value are read, then compared with setting position, it is determined that pipe
The off-center distance of pipeline robot and inclined angle, ARM input to IRMCK203, IRMCK203 after this deviation signal is converted
The PWM wave control signals of two permanent magnet synchronous motors are obtained according to its internal SERVO CONTROL program, and it is real-time by drive circuit
Pipe robot posture is adjusted, pipe robot stable operation is adjusted in real time according to peripheral environment ARM in magnetic stripe immediate vicinity
The PI parameters of SERVO CONTROL program inside IRMCK203；The air line distance that the real-time recorder people of ARM have run, distance correction
The sensor S moment detects ground amendment mark, once reading correcting device, the positional distance information of ARM records will be with amendment
The positional information of mark is defined, and eliminates the caused site error of pipe robot when walking；
8）If pipe robot is either run into magnetic stripe fracture, magnetic navigation in normal motion by external interference
Sensor ME1 can not read ground magnetic strip information, now left laser displacement sensor LSL and right laser displacement sensor LSR
Work will be opened, then the two obtains the distance input measured in deviation to ARM controller, controller compared with setting value
The position of the heart, ARM input to IRMCK203 after this deviation signal is converted, IRMCK203 obtains according to its internal SERVO CONTROL program
To the PWM wave control signals of two permanent magnet synchronous motors, and adjust pipe robot posture in real time by drive circuit, make pipeline
It is robot stabilized to operate near pipeline planar central, SERVO CONTROL inside IRMCK203 is adjusted according to peripheral environment ARM in real time
The PI parameters of program；ARM records the air line distance that pipe robot has been run in real time, and the distance correction sensor S moment is detected
Ground amendment mark, once read correcting device, ARM record positions range information will using amendment mark positional information as
Standard, eliminate site error during pipe robot walking；
9）In pipe robot motion process, the CCD moment in IMAQ opens, DSP and real-time storage CCD collections
The image arrived, DSP is compared the image of collection with the standard pipe information set, if the appearance of the two comparison result is larger
Abnormal, in order to prevent maloperation, DSP sends secondary judgement interrupt requests immediately, and ARM makes an immediate response DSP interrupt, and with
IRMCK203 is communicated, and allows pipe robot to stop by IRMCK203, and DSP makes CCD secondary acquisitions duct size information and and standard pipe
Road information is compared, and is stored after obtaining latest result, continues to move ahead then along pipeline navigation marker；
10）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 gap to result, in order to prevent maloperation, ARM and IRMCK203 is communicated, and passes through servo control inside IRMCK203
Processing procedure sequence active accommodation two permanent magnet synchronous motors X and motor Y PWM wave control signals, reducing the speed of pipe robot makes
, at a slow speed by the region having a question, the PI for adjusting SERVO CONTROL program inside IRMCK203 in real time according to peripheral environment ARM joins for it
Number；ARM sends interrupt requests to DSP immediately simultaneously, and DSP makes an immediate response ARM interruptions, and increases liquid in CCD pipelines collection information
The comparison of state water, DSP store the doubtful image of steam and actual position information in the region；After by suspicious region, ARM with
IRMCK203 is communicated, and passes through SERVO CONTROL program active accommodation two permanent magnet synchronous motors X and motor Y inside IRMCK203
PWM wave control signals, recovering the speed of pipe robot makes its normal inspection pipeline；
11）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 IRMCK203 is communicated, and passes through SERVO CONTROL program active accommodation two permanent magnet synchronous motors X inside IRMCK203 and electricity
Machine Y PWM wave control signals, reducing the speed of pipe robot makes it drive towards barrier at a slow speed；It is real-time according to peripheral environment ARM
Adjust the PI parameters of SERVO CONTROL program inside IRMCK203；ARM sends interrupt requests to DSP immediately simultaneously, and DSP makes an immediate response
ARM is interrupted, and increases the comparison of tamper in CCD pipelines collection information, and DSP stores the doubtful image of blocking and reality in the region
Positional information, because the pipe robot of this secondary design is more wheel crawler structures, so ARM control pipelines robot can lead to
Cross and clear the jumps and can continue to move ahead；After by suspicious region, ARM and IRMCK203 is communicated, and by IRMCK203
Portion SERVO CONTROL program active accommodation two permanent magnet synchronous motors X and motor Y PWM wave control signals, recover pipe robot
Speed make its normal inspection pipeline；
12）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 IRMCK203 is communicated, and passes through SERVO CONTROL program active accommodation inside IRMCK203
Two permanent magnet synchronous motors X and motor Y PWM wave control signals, reducing the speed of pipe robot makes it drive towards pipeline at a slow speed
Damage suspicious region；According to peripheral environment, ARM adjusts the PI parameters of SERVO CONTROL program inside IRMCK203 in real time；ARM simultaneously
Interrupt requests are sent to DSP, DSP makes an immediate response ARM interruptions, and increases the ratio of pipe damage in CCD pipelines collection information immediately
It is right, if DSP has found that doubtful pipe damage image will store this image, if DSP does not have found pipe damage image, record is doubted
Like damage actual position information, and outer damage is marked, after by suspicious region, ARM and IRMCK203 is communicated, and is passed through
SERVO CONTROL program active accommodation two permanent magnet synchronous motors X and motor Y PWM wave control signals inside IRMCK203, recover
The speed of pipe robot makes its normal inspection pipeline；
13）In pipe robot motion process, ARM can store the location of passed through pipeline the moment and either pass through
The reference point crossed, and relatively next reference point pipe robot permanent-magnet synchronous is calculated by ARM according to these range informations
Motor X and permagnetic synchronous motor Y distance, speed and the acceleration to be run respectively, ARM feeds back in conjunction with current of electric, photoelectricity
Encoder feedback and the feedback of ground magnetic stripe obtain position error signal, and ARM and IRMCK203 is communicated, and by IRMCK203
Portion SERVO CONTROL program active accommodation two permanent magnet synchronous motors X and motor Y PWM wave control signals, make pipe robot by
Quickly moved ahead according to setting speed, while adjust the PI ginsengs of SERVO CONTROL program inside IRMCK203 in real time according to peripheral environment ARM
Number；
14）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 controller will forbid pipe robot in Information revision of adjusting the distance, ARM roots
According to pipeline magnetic bar navigation mark feedback and left laser displacement sensor LSL and right laser displacement sensor LSR feedback, adjust in real time
The speed of whole permanent-magnet synchronous X-motor and motor Y, ensure that pipe robot slowly rolls away from towards outlet, and abandon all collection works
Make；
15）Light on permagnetic synchronous motor X, permagnetic synchronous motor Y, permagnetic synchronous motor Z and permagnetic synchronous motor R
Photoelectric coder can export its position signalling A and position signalling B, the position signalling A pulses of photoelectric encoder and B pulsed logic states
Often change once, the location register in ARM can add 1 according to the traffic direction of motor or subtract 1；The position of photoelectric encoder
When signal A pulses and B pulses and Z pulses are simultaneously low level, just produce an INDEX signal and give ARM internal registers, record
The absolute position of permagnetic synchronous motor, it is then convert into particular location of the pipe robot in pipe detection system；
16）Pipe robot calculates power supply 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 IRMCK203, DSP, and by DSP close ccd image collecting work with
Image stores work, and adjusts permagnetic synchronous motor X's and permagnetic synchronous motor Y by SERVO CONTROL program inside IRMCK203
PWM is exported, and pipe robot is driven towards exit with slower speed, ensures that pipe robot can smoothly arrive exit；
17）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 controller can be easy to compensate this interference, reduce motor
Influence of the torque to crusing robot motion process；
18）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, determine front exit valve F4 open it is errorless after, pipe robot
Roll detection pipeline away from, return to detection terminal, wait next sense command.
The invention has the advantages that：
1st, in pipe robot motion process, the effect of battery in this system has been taken into full account, based on ARM+
The nuclear control device moment of IRMCK203+DSP tri- is all being monitored and computing to its state, both avoided due to heavy-current discharge and
The generation of caused lithium ion battery overaging phenomenon, the energy of battery can be effectively predicted again, be pipe robot inspection
Provide and be effectively ensured；
2：By IRMCK203 processing four permagnetic synchronous motors of pipe robot based on rotor field-oriented SERVO CONTROL,
So that control is fairly simple, arithmetic speed is substantially increased, solves the problems, such as that the control algolithm occupancy ARM cycles of operation are longer,
It is short to shorten the construction cycle, and program transportability ability is strong；
3：The present invention realizes full SMD components material substantially, realizes veneer control, not only saves control panel occupancy
Space, and be advantageous to the mitigation of pipe robot volume and weight；
4：The pipe robot of the present invention instead of the stepping commonly used in traditional robot system using permagnetic synchronous motor
Motor, direct current generator, DC brushless motor, because its small volume, efficiency are higher so that pipe robot volume can enter one
Step reduces, and energy utilization rate greatly improves；
5：Orientation on rotor flux is based on because permagnetic synchronous motor uses so that speed adjustable range is wider, speed ratio
Relatively steady, the pulsating torque even in 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, by IRMCK203
The SERVO CONTROL of four axle permagnetic synchronous motors is managed, ARM is freed from hard work amount, effectively prevent program
" run and fly ", antijamming capability greatly enhances；
7：In control, ARM controller can adjust four axle permanent magnet synchronous electrics in good time according to robot periphery running situation
The servo-controlled PI parameters of machine, greatly improve dynamic performance；
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：The addition of three-axis gyroscope can effectively detect the angle of inclination that pipe robot deviates pipeline plane, ARM controls
Device can be adjusted at the moment to this angle, 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：The addition of three-axis gyroscope can effectively measure angle when pipe robot is turned, and be that robot is managed in complexity
Turning navigation in road improves reliable basis；
15：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；
16：The addition of power-assisted wheel causes the power performance adjustment of system has may be selected so that robot can meet not
With the power demand under operating mode so that the adaptability of robot is strengthened；
17：The addition of timing belt technology causes mechanical assistance wheel all to have power, while the addition of crawler belt effectively increases
The area that pipe robot contacts in the duct, allow robot effectively by with obstruction object area, improving ring
Border adaptability；
18：The addition of three-axis gyroscope can effectively measure the speed that pipe robot occurs in line navigation and direction is inclined
Move, reliable basis are improved for inertial navigation of the robot in complicated pipeline.
To sum up tell, the quick natural gas line robot control system of the axle crawler type of three core four 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 the acceleration of system, the system adds two power-assisted permanent magnet synchronous electrics
Machine；In order to improve arithmetic speed, ensure the stability and reliability of automatic pipeline robot system, the present invention is based on ARM's
Permagnetic synchronous motor special integrated circuit IRMCK203 and digital signal processor DSP are introduced in controller, formation is based on ARM+
IRMCK203+DSP brand-new three nuclear control device, this controller takes into full account effect of the battery in this system, control system
Four maximum axle servo-drive systems of middle workload are given IRMCK203 completions, battery cell monitoring, path reading, deviation processing etc. and given
ARM processing, the characteristics of ARM data processing speeds are relatively fast is given full play to, and the function such as image data acquiring and storage is given
DSP is completed, and is so achieved that ARM, IRMCK203 and DSP division of labor, while can also be communicated between three, in real time
Carry out data exchange and calling.
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 (2)
1. the quick natural gas line robot control system of a kind of axle crawler type of three core four, it is characterised in that including robot shell
Body, laser displacement sensor, magnetic navigation sensor, left fork sensor, right fork sensor, three-axis gyroscope, timing belt, forever
Magnetic-synchro motor X, permagnetic synchronous motor Y, permagnetic synchronous motor R and permagnetic synchronous motor Z, described laser displacement sensor
The front end of robot housing is separately mounted to, described magnetic navigation sensor is arranged on robot housing and is located at laser displacement
The lower section of sensor, described left fork sensor and right fork sensor are located at the left and right two below magnetic navigation sensor respectively
End, described timing belt be separately positioned on the left and right sides of robot housing and respectively with permagnetic synchronous motor X, permanent-magnet synchronous
Motor Y, permagnetic synchronous motor Z connect with permagnetic synchronous motor R, and described three-axis gyroscope is arranged on robot housing and position
Between permagnetic synchronous motor X and permagnetic synchronous motor Y, in addition to controller, described controller use three nuclear control devices, bag
Include ARM, IRMCK203 and DSP, described ARM, IRMCK203 and DSP carry out mutually communication connection, described ARM and
IRMCK203 sends the first control signal, the second control signal, the 3rd control signal and the 4th control signal respectively, by described
First control signal, the second control signal, the 3rd control signal and the 4th control signal control described permanent magnet synchronous electric respectively
Machine Y, permagnetic synchronous motor X signal, permagnetic synchronous motor Z and permagnetic synchronous motor R synthesize afterwards control pipeline robot again
Motion, 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 four 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 the first described control signal, the second control signal, the 3rd control signal and the 4th control signal are PWM
Wave control signal, described ARM use STM32F746；Described DSP uses TMS320F2812, described quick natural gas tube
Pipeline robot control system also include battery, based on ccd image collecting unit, image storage unit, humidity collection unit, be based on
The described control of electric current driving is provided separately in Hall effect pipeline inspection collecting unit and pipe robot, described battery
Device, described communicated based on ccd image collecting unit and image storage unit with DSP are connected, described humidity collection unit
Connected with based on Hall effect pipeline inspection collecting unit with ARM and IRMCK203 communications, described quick natural gas line
Robot control system is additionally provided with host computer procedure, based on ARM motion control programs, based on DSP IMAQs and be based on
Hall effect pipe damage detects, and described host computer procedure also includes pipeline reading, position positioning and power information, described
Also included based on ARM motion control programs based on the axle permagnetic synchronous motor SERVO CONTROLs of IRMCK203 tetra-, data storage and I/O controls
System, it is described based on DSP IMAQs and based on the detection of Hall effect pipe damage respectively with based on ccd image collecting unit and
Communicated and connected based on Hall effect pipeline inspection collecting unit, described quick natural gas line robot control system also includes
Photoelectric encoder, described photoelectric encoder are separately mounted to permagnetic synchronous motor X, permagnetic synchronous motor Y, permagnetic synchronous motor
On Z and permagnetic synchronous motor R.
2. quick natural gas line robot control system according to claim 1, it is characterised in that described battery is adopted
Use lithium ion battery.
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