CN105953026B - A kind of quick natural gas line robot control system of three core, two axis crawler type - Google Patents

A kind of quick natural gas line robot control system of three core, two axis crawler type Download PDF

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Publication number
CN105953026B
CN105953026B CN201610400349.3A CN201610400349A CN105953026B CN 105953026 B CN105953026 B CN 105953026B CN 201610400349 A CN201610400349 A CN 201610400349A CN 105953026 B CN105953026 B CN 105953026B
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arm
robot
permanent magnet
irmck203
dsp
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CN105953026A (en
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张好明
朱利军
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Jiangsu Ruobo Robot Technology Co Ltd
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Jiangsu Ruobo Robot Technology Co Ltd
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    • 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
    • GPHYSICS
    • G05CONTROLLING; REGULATING
    • G05BCONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00Programme-control systems
    • G05B19/02Programme-control systems electric
    • G05B19/04Programme control other than numerical control, i.e. in sequence controllers or logic controllers
    • G05B19/042Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
    • 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

Abstract

The invention discloses a kind of quick natural gas line robot control system of three core, two axis crawler type, the controller uses three nuclear control devices, including ARM, IRMCK203 and DSP, and described ARM, IRMCK203 and DSP carry out mutual communication connection.By the above-mentioned means, the present invention has independently invented the completely new three nuclear control mode based on ARM+IRMCK203+DSP.Control panel is using ARM as processor core, the SERVO CONTROL of two axis permanent magnet synchronous motors is realized by IRMCK203, DSP realizes the real-time processing of Image Acquisition digital signal and communicates with ARM, ARM is freed in complicated work, realize the real time position acquisition of two axis three-phase permanent magnet synchronous motors, and DSP interrupt is responded, realize data communication and storage live signal.

Description

A kind of quick natural gas line robot control system of three core, two axis crawler type
Technical field
The present invention relates to the fields of large-scale pipeline robot, more particularly to a kind of two quick natural gas tube of axis crawler type of three core Pipeline robot control system.
Background technique
The pumped (conveying) medium of natural gas line belongs to inflammable, explosive substance, the hydrogen sulfide contained in medium, carbon dioxide, The impurity such as free water, dust make the pipeline of laying be in inside and outside etching condition, or even inside can generate obstruction feelings sometimes Condition occurs.Along with environment, geology, meteorology and hydrological disaster, tubing and design defect, operation error or even artificial destruction etc. because Element, threat of the safety of pipeline by many factors.
One gas pipeline on June 4th, 1989, the former Soviet Union leaks, and two column are to running a train apart from leakage point 1 Kilometer outside railway line on by when, train friction generate spark cause leakage can natural-gas explosion, cause more than 600 people Death, hundreds of hectares of forests are burnt;In August, 2000, the gas pipeline hair of the 720mm bore of the New Mexico southeast one Raw gas explosion causes incessanly to fight greatly and at least causes 10 people dead, and the place other than more than 30 kilometers can be seen huge Type fireball rushes to sky, and ground leaves the hollow place of a road length 25m, depth 6m after explosion;The oil and gas pipeline in China is also once more Secondary that accident occurs, pipeline occurs the accidents such as explosion, leakage, stopping transportation and not only causes huge property loss, but also jeopardizes ecology Environment.
Pipe robot is that one kind can carry one or more sensings along automatically walk either external inside pipeline Device and operation are mechanical, and a series of electromechanics of pipeline operations is completed under the control of operator or under computer controlled automatic Integral system.The research of pipe robot starts from eighties of last century the forties, to the seventies due to microelectric technique, meter The development and progress of calculation machine technology, automatic technology, external pipeline robot technique are grown rapidly the beginning of the nineties, are ground Many experimental prototypes have been made, and have achieved a large amount of research achievement.
With pipe robot inspection natural gas line, the efficiency of pipe detection not only can be improved, but also for improving labor Dynamic condition, reduces labor intensity, and improves operating efficiency, reduces operating cost, guarantees personal safety and suffer from highly important meaning Justice.But it is domestic not yet using pipe robot inspection natural gas line, natural gas line explosion happens occasionally, causes huge Huge economic loss and environmental pollution.
One practical natural gas tube pipeline robot must have following components:
1) image capturing system: image capturing system can be found that the problem of having already appeared in pipeline, and can be work Personnel's offer pipeline is damaged and congestion situations, either clears up pipeline for replacement pipeline and provides reliable basis;
2) damage acquisition system: damage acquisition system can find the abnormal conditions that pipe-line system outer wall occurs in time, keep away Pipeline is exempted from and long-term breakage causes anti-pressure ability to weaken, has eventually led to natural gas and largely reveal and generate explosion accident;
3) humidity detection and obturator detection: if humidity is excessive, the pumped (conveying) medium of natural gas line is easily formed pipeline Corrosion, while moieties understand heap to generate congestion situations;
4) motor: actuating motor is that the power of pipe robot implements component, it converts the energy of power supply in real time, according to pipe The instruction of pipeline robot microprocessor is to execute related walking motion of the robot in natural gas line;
5) algorithm: algorithm is the soul of natural gas tube pipeline robot, interior since natural gas line is a closed pipeline Portion's situation is extremely complex, natural gas tube pipeline robot must using certain intelligent algorithm just can accurately out of pipeline a little to Up in addition, form point-to-point inspection, and real-time storage acquires image, pipeline steam information, pipeline obstruction information, pipeline Damage situations and damaged location information;
6) microprocessor: microprocessor is the core of natural gas tube pipeline robot, is natural gas tube pipeline robot Brain.All information in pipeline, including in pipeline humidity, congestion situations, pipe damage information and damage position information, Motor status information, battery status information etc. require by microprocessor processes and make corresponding judgement.
The country is only at the early-stage to the research of pipe robot, is to be in laboratory sample using monokaryon controller The machine design phase has a certain distance from large-scale use, mainly faces following problems:
(1) by control technique influence, all pipe robots are all made of monokaryon controller, the computing capability of controller compared with Weak, pipe robot can not quickly handle real time environment, and robot ambulation speed is lower, and inspection pipeline speed is slower, by outer Boundary's environmental disturbances stability is poor;
(2) for being all made of chargeable storage using the energy entrained by motor-driven pipe robot, these storages Battery is by formation high-voltage great-current energy resource system after simply connecting and being in parallel, and without protection circuit, the service life is shorter, Often occurs the abnormal work for even interfering with pipe robot when normal work;
(3) for using the stepper motor either pipe robot of direct current generator driving, by motor own efficiency Influence, energy utilization rate is lower, causes robot moving distance in pipeline shorter;
(4) for using the stepper motor either pipe robot of direct current generator driving, by power of motor density Influence, since used motor volume is larger, the volume for eventually leading to robot is larger, and heavier-weight seriously affects The use scope of pipe robot;
(5) either based on the vector controlled either servo based on orientation on rotor flux algorithm permanent magnet synchronous motor Control will also carry out the closed-loop control of electric current and speed other than carrying out multiple coordinate transform and inverse transformation, thus realize More complicated and requirement of real-time is higher;It uses DSP technology either ARM technology and is realized with software mode, system development Period is long, and the processor time that the algorithm occupies is relatively more, affects the DSP either processing function of ARM;
(6) self adjustment capability of pipe robot motion state is poor, is influenced by control mode, robot is in pipeline Attitude parameter identification is poor, and robot can not identify the angle of self plane Yu pipeline principal plane, cause to go out when robot ambulation It now tilts, or even overturns sometimes, lead to 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, it finally can not inspection completion task.
The stator of permasyn morot and common electrically excited synchronous motor stator structure having the same, only rotor On using Nd-Fe-B rare earth permanent magnetic material as magnetic pole instead of the excitation pole of synchronous machine and excitation winding, make the structure of motor It is relatively simple, and eliminate and be easy out of order collector ring and brush, non-brushing is realized, the reliable of motor running is improved Property.Because being not required to exciting current, the copper loss of excitation winding can be saved, greatly improves the efficiency of motor;Rare earth permanent magnet Material uses so that power of motor density is higher, so the volume of motor be can be made smaller, suitable volume requirement is relatively high Occasion.Permasyn morot also has the characteristic that revolving speed is accurate, noise is low, rare earth other than having apparent energy-saving effect Permanent magnet synchronous motor be based on it is rotor field-oriented or based on vector control system can be realized high-precision, high dynamic performance, Speed regulation or location control on a large scale, these characteristics make rare earth permanent-magnet synchronization motor be particularly suitable for being used in pipe robot this It is a little to require in more special robot control system.
Crawler-type mobile mechanism is the expansion of wheeled locomotion mechanism, and crawler belt itself plays a part of continuously paving the way to wheel. Relative to ratcheting mechanism, crawler-type mobile mechanism has many advantages, such as, such as: bearing area is big, and grounding pressure is small;Rolling resistance Small, passage capacity is preferable;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 biggish tractive force of performance;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 is adjustable, to adapt to different operation calibers.
Summary of the invention
The invention mainly solves the technical problem of providing a kind of quick natural gas tube pipeline robots of three core, two axis crawler type Control system has independently invented the completely new three nuclear control mode based on ARM+ IRMCK203+DSP.Control panel is processing with ARM Device core, the SERVO CONTROL of two axis permanent magnet synchronous motors is realized by IRMCK203, and DSP realizes the real-time of Image Acquisition digital signal It handles and is communicated with ARM, ARM is freed in complicated work, realizes the real-time of two axis 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 technical scheme adopted by the invention is that: provide a kind of two axis crawler belt of three core The quick natural gas line robot control system of formula, including robot shell, laser displacement sensor, magnetic navigation sensor, away from From amendment sensor, three axis accelerometer, synchronous belt, permanent magnet synchronous motor X and permanent magnet synchronous motor Y, the laser position Displacement sensor is separately mounted to the front end of robot shell, and the magnetic navigation sensor and distance correction sensor are arranged at Lower section on robot shell and positioned at laser displacement sensor, the synchronous belt are separately positioned on the left and right of robot shell Two sides are simultaneously connect with permanent magnet synchronous motor X and permanent magnet synchronous motor Y respectively, and the three axis accelerometer is arranged in robot It further include controller on shell and between permanent magnet synchronous motor X and permanent magnet synchronous motor Y, the controller uses three Nuclear control device, including ARM, IRMCK203 and DSP, described ARM, IRMCK203 and DSP carry out mutual communication connection, described ARM and IRMCK203 issue first control signal and second control signal respectively, are controlled by the first control signal and second The signal synthesis that signal processed controls the permanent magnet synchronous motor Y and permanent magnet synchronous motor X respectively controls pipeline machine again later The movement of people.
In a preferred embodiment of the present invention, the laser displacement sensor include front laser displacement sensor, Left laser displacement sensor and right laser displacement sensor, the described front laser displacement sensor setting robot shell just The middle position in front, the left laser displacement sensor and right laser displacement sensor are angularly disposed in robot shell respectively Left and right ends immediately ahead of body.
In a preferred embodiment of the present invention, the synchronous belt uses two axis, six wheel drive mode, is by one Perimeter surface is equipped with the closed ring crawler belt of equidistant tooth and corresponding belt wheel is formed.
In a preferred embodiment of the present invention, the first control signal and second control signal are PWM wave control Signal processed.
In a preferred embodiment of the present invention, the ARM uses STM32F746;The DSP is used TMS320F2812。
In a preferred embodiment of the present invention, the quick natural gas line robot control system further includes electricity Pond is based on ccd image acquisition unit, image storage unit, humidity collection unit, is based on Hall effect pipeline inspection acquisition unit And pipe robot, the electric current driving controller is provided separately in the battery, described to acquire list based on ccd image Member and image storage unit are acquired with DSP communication connection, the humidity collection unit and based on Hall effect pipeline inspection Unit with ARM and IRMCK203 communication connection.
In a preferred embodiment of the present invention, the battery uses lithium ion battery.
In a preferred embodiment of the present invention, the quick natural gas line robot control system is additionally provided with Position machine program is detected based on ARM motion control program, based on DSP Image Acquisition and based on Hall effect pipe damage, described Host computer procedure further include pipeline read, position positioning and power information, it is described to further include based on ARM motion control program It is described based on DSP Image Acquisition based on two axis permanent magnet synchronous motor SERVO CONTROL of IRMCK203, data storage and I/O control It is acquired respectively with based on ccd image acquisition unit and based on Hall effect pipeline inspection with based on the detection of Hall effect pipe damage Unit communications connection.
In a preferred embodiment of the present invention, the quick natural gas line robot control system further includes photoelectricity Encoder, the photoelectric encoder are separately mounted on permanent magnet synchronous motor X and permanent magnet synchronous motor Y.
The beneficial effects of the present invention are: three core, two axis crawler type of the invention quick natural gas tube pipeline robot control system System, using efficiency and the higher permanent magnet synchronous motor of power density instead of motors such as stepper motor, direct current generators;In order to mention High arithmetic speed guarantees that the stability and reliability of automatic pipeline robot system, the present invention are drawn in the controller based on ARM Enter permanent magnet synchronous motor special integrated circuit IRMCK203 and digital signal processor DSP, is formed and be based on ARM+ IRMCK203+ The completely new three nuclear control device of DSP, this controller fully consider battery in the effect of this system, most workload in control system Two big axis servo-systems give IRMCK203 completion, and battery cell monitoring, path reading, deviation processing etc. give ARM processing, sufficiently The relatively fast feature of ARM data processing speed is played, and the functions such as image data acquiring and storage give DSP completion, in this way It is achieved that the division of labor of ARM, IRMCK203 and DSP, while can also be communicated between three, real-time perfoming data exchange And calling.
Detailed description of the invention
To describe the technical solutions in the embodiments of the present invention more clearly, make required in being described below to embodiment Attached drawing is briefly described, it should be apparent that, drawings in the following description are only some embodiments of the invention, for For those of ordinary skill in the art, without creative efforts, it can also be obtained according to these attached drawings other Attached drawing, in which:
Fig. 1 is that the present invention is preferably implemented with the quick natural gas line robot control system one of three core, two axis crawler type The schematic diagram of example;
Fig. 2 is pipe robot two-dimensional structure schematic diagram;
Fig. 3 is the programme diagram of Fig. 1;
Fig. 4 is pipe robot inspection schematic diagram.
Specific embodiment
The technical scheme in the embodiments of the invention will be clearly and completely described below, it is clear that described implementation Example is only a part of the embodiments of the present invention, instead of all the embodiments.Based on the embodiments of the present invention, this field is common Technical staff's all other embodiment obtained without making creative work belongs to the model that the present invention protects It encloses.
As shown in Figure 1, the embodiment of the present invention includes:
A kind of quick natural gas line robot control system of three core, two axis crawler type, including battery, controller, permanent magnetism are same Motor X, permanent magnet synchronous motor Y are walked, ccd image acquisition unit is based on, image storage unit, humidity collection unit, is based on Hall The electric current driving controller, institute is provided separately in effect pipeline inspection acquisition unit and pipe robot, the battery The controller stated uses three nuclear control devices, including ARM, IRMCK203 and DSP, and described ARM, IRMCK203 and DSP carry out phase Mutual communication connection, the ARM and IRMCK203 issue first control signal and second control signal respectively, by described first The signal that control signal and second control signal control the permanent magnet synchronous motor Y and permanent magnet synchronous motor X respectively synthesizes it Control the movement of pipe robot again afterwards, described communicated with DSP based on ccd image acquisition unit and image storage unit is connected Connect, the humidity collection unit and based on Hall effect pipeline inspection acquisition unit with ARM and IRMCK203 communication connection. Wherein, the battery uses lithium ion battery;The first control signal and second control signal is PWM wave control letter Number.
Among the above, the ARM uses STM32F746;The DSP uses TMS320F2812.
STMicroelectronics completely new STM32F7 MCU series of products produced, be global first volume production and Possess the microcontroller of 32 bit ARM Cortex-M7 processors.Cortex-M7 is newest release in Cortex-M series of products And the highest processor core of efficiency, completely new STM32F7 MCU are highest one of efficiency in the STM32 MCU series of products of ST Product combines Cortex-M7 core and high-order peripheral unit, can promote application program efficiency, newly-increased new function, extend battery Service life ensures safety and reduces as far as possible using outer member to save the incomparable advantage such as cost and space.
STM32F7 series of products include STM32F745 and STM32F746, this two products, which are all equipped with, possesses floating-point operation The Cortex-M7 core of unit and DSP extended function, 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 scheme, IRMCK203 is used completely without programming based on motor control engine (Motion Control Engine, MCE) Hardware circuit realizes the Field orientable control algorithm of permanent magnet synchronous motor.MCE includes pi regulator, vector calculus, Clark All functional units needed for the closed-loop controls such as transformation, institute is functional to be realized by hardware circuit completely, therefore has quickly meter Calculation ability and splendid dynamic property.Other than current closed-loop and velocity close-loop control function based on velocity estimation, IRMCK203 also have it is automatic open, dephasing detection, control for brake and various driving defencive functions with busbar voltage monitoring, It is simulated I/O and part number I/O and is all configurable, and all PORT COMs can operate internal register.With Family can configure various driving parameters according to the actual conditions (used motor and loading condition) of oneself (such as: pi regulator Parameter, current feedback range, PWM carrier frequency etc.) and monitoring system state;IRMCK203 can realize master with MCU or PC cooperation The instruction of host is accepted in slave pattern, operation completely, and These characteristics are very suitable to electricity synchronous with ARM cooperation control high-speed permanent magnetic Machine reduces the period that control algolithm occupies arm processor, increases the stability and rapidity of system.
TMS320F2812 is 32 fixed-point digital signal processings of novel high-performance based on the compatible C28x kernel of code Device, the instruction execution cycle of C28x kernel have reached 6.67ns, and maximum running frequency can achieve 150MHz, and F2812 is integrated with Many peripheral hardwares, provide a whole set of system on chip, and On-Chip peripheral mainly includes 12,2 × 8 tunnel ADC (when most fast 80ns is converted Between), 2 road SCI, 1 road SPI, 1 road McBSP, 1 road eCAN interface etc., and there are two event manager module (EVA, EVB) for band.Separately Outside, there are also 3 independent 32 bit CPU timers for the device, and up to 56 GPIO pins being independently programmable.F2812 is used Unified addressing mode, chip interior has the SARAM of 18K, including totally 5 memory blocks, each memory block are kept by MO, M1, L0, L1, H0 It is independent, it can access in the uniform machinery period to different RAM blocks, to reduce assembly line time delay.And inside F2812 There are the FLASH of 128K word, address space 3D8000h~3F7FFFh, is suitable for low-power consumption, high performance control system.Furthermore F2812 provides external memory expansion interface (XINTF), facilitates carry out system extension, and addressing space can achieve 1MB; These characteristics make F2812 while having the data-handling capacity of digital signal processor brilliance, and have and be suitable for control Piece in peripheral hardware and interface, can be widely applied in various high performance systems controls, These characteristics make TMS320F2812 special Not Shi He crusing robot figure acquisition, image storage and location information storage.
It is detected automatically in order to accurate guide duct robot, the present invention is using two sets of sensors navigation modes (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 Shown: the pipe robot includes robot shell K, laser displacement sensor, magnetic navigation sensor ME1, distance correction Sensor S, three axis accelerometer A1 and synchronous belt T, the laser displacement sensor are separately mounted to robot shell K's Front end, the magnetic navigation sensor ME1 and distance correction sensor S are arranged on robot shell K and are located at laser position The lower section of displacement sensor, the synchronous belt T be separately positioned on the left and right sides of robot shell K and respectively with permanent-magnet synchronous Motor X is connected with permanent magnet synchronous motor Y, and the three axis accelerometer A1 setting is on robot shell K and same positioned at permanent magnetism It walks between motor X and permanent magnet synchronous motor Y.Wherein, the laser displacement sensor includes front laser displacement sensor LSF, left laser displacement sensor LSL and right laser displacement sensor LSR, the front laser displacement sensor LSF setting Middle position immediately ahead of robot shell K, the left laser displacement sensor LSL and right laser displacement sensor LSR The angularly disposed left and right ends immediately ahead of robot shell K respectively.
The magnetic navigation sensor ME1 moment detects the magnetic stripe in pipeline, and sensor is the first navigation criterion according to this, works as magnetic stripe When the deviation distance that is not present or navigates is larger, left laser displacement sensor LSL and right laser displacement sensor LSR collective effect are sentenced Disconnected direction of advance moves along a straight line as pipe robot at a distance from the tube wall of left and right and provides navigation foundation, front laser displacement Sensor LSF, which is provided according to and stopped for the differentiation of pipe robot advance barrier, does criterion.
In order to improve the stability of pipe robot walking navigation during closed conduit, the adjust automatically of posture is realized And independent navigation ability, the present invention joined three axis accelerometer A1 in natural gas line robot servo hardware system. Whole during pipe robot walks pipeline to open three axis accelerometer A1, three axis accelerometer A1 is used to measure pipeline machine The angular acceleration of three directions of advance of people, controller obtain its tilt angle by continuous integral according to the angular acceleration measured. When the posture of pipe robot, which changes, is more than setting threshold values, in a new sampling period controller just immediately to its position Compensation is set, pipe robot is avoided because tilting generation that is excessive and translating into phenomenon, to improve its quick row in the process of walking Walk stability when navigating;If carrying out continuous integral to three axis accelerometer A1, and it is transformed in navigational coordinate system, is managed Pipeline robot can obtain its acceleration in navigational coordinate system in closed conduit independent of any external information The information such as degree, speed, yaw angle and position, generated navigation information continuity is good and noise is very low, greatly enhances The autonomous inertial navigation ability of pipe robot.
Synchronous belt T transmission is the closed ring crawler belt and corresponding belt wheel institute group that equidistant tooth is equipped with by an inner peripheral surface At.It when movement, is meshed with the tooth socket of belt wheel passing movement and power with tooth, is a kind of engaged transmission, thus there is gear to pass Dynamic, chain conveyer and Belt Drive various advantages.Synchronous belt K transmission has accurate transmission ratio, and no slippage can get constant Speed ratio, can precision drive, stable drive, can shock-absorbing, noise is small, and transmission efficiency is high, is not required to lubricate, pollution-free, is particularly suitable for It is not allow for working normally under pollution and the more severe occasion of working environment, compact-sized particularly suitable spinning transmission, therefore The present invention forms two axis, six wheel drive mode using synchronous belt technology.
The present invention has developed one kind by two rare-earth permanent-magnetic synchronous electricity to solve the problems, such as that domestic pipeline robot exists Six wheel crawler double-core natural gas tube pipeline robots of machine differential driving, the servo control algorithm of two rare earth permanent-magnet synchronization motors It is completed by special sport control chip, increases the rapidity of system-computed, four auxiliary wheels are driven with left and right respectively by synchronous belt Dynamic electromechanics link, multiple wheels of left and right sides pass through crawler belt mechanical linkages respectively, and then natural gas tube pipeline robot relies on it Carry sensors carry out inspection major gas pipeline.
The present invention has independently invented under the premise of absorbing external Dynamic matrix control thought based on ARM+ IRMCK203+DSP Completely new three nuclear control mode.Controller principle figure such as Fig. 1: control panel of this secondary design using ARM as processor core, by IRMCK203 realize two axis permanent magnet synchronous motors SERVO CONTROL, DSP realize Image Acquisition digital signal it is real-time handle and with ARM communication frees ARM in complicated work, realizes the real time position acquisition of two axis three-phase permanent magnet synchronous motors, And DSP interrupt is responded, realize data communication and storage live signal.
As shown in figure 3, the quick natural gas line robot control system of three core, two axis crawler type is additionally provided with Position machine program is detected based on ARM motion control program, based on DSP Image Acquisition and based on Hall effect pipe damage, described Host computer procedure further include pipeline read, position positioning and power information, it is described to further include based on ARM motion control program It is described based on DSP Image Acquisition based on two axis permanent magnet synchronous motor SERVO CONTROL of IRMCK203, data storage and I/O control It is acquired respectively with based on ccd image acquisition unit and based on Hall effect pipeline inspection with based on the detection of Hall effect pipe damage Unit communications connection.
In order to achieve the above object, the present invention takes following technical scheme, in order to improve the utilization rate of the energy and reduce robot Volume, this system efficiency and the higher permanent magnet synchronous motor of power density are instead of motors such as stepper motor, direct current generators; In order to improve arithmetic speed, guarantee the stability and reliability of automatic pipeline robot system, the present invention is in the control based on ARM Permanent magnet synchronous motor special integrated circuit IRMCK203 and digital signal processor DSP are introduced in device, are formed and are based on ARM+ The completely new three nuclear control device of IRMCK203+DSP, this controller fully consider battery in the effect of this system, control system The middle maximum two axis servo-system of workload gives IRMCK203 completion, and battery cell monitoring, path reading, deviation processing etc. are given ARM processing, gives full play to the relatively fast feature of ARM data processing speed, and the functions such as image data acquiring and storage are given DSP is completed, and thereby realizes the division of labor of ARM, IRMCK203 and DSP, while can also communicate between three, in real time Carry out data exchange and calling.
As shown in figure 4, for the tri- nuclear control device of ARM+ IRMCK203+DSP designed herein, under power-on state, ARM controller is first to robot battery SOC(state-of-charge) judge, if battery power is lower, controller can issue report Alert signal;It is first by USB interface that the information such as inspection natural gas line length and radius are defeated by PC machine 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, and inlet valve F1 is waited to beat It opens, after when front, laser displacement sensor LSF determines that inlet valve F1 is opened, pipe robot enters buffer area to be checked, so Rear entrance valve F1 is closed, and inlet valve F2 is opened, and pipe robot enters pipe detection region;The image that robot carries is adopted Collecting system, humidity collection system and pipe damage detection device are opened, and pipe robot is according to setting speed along inspection road Navigation sensor parameter is input to IRMCK203 by line fast inspection, ARM, by bis- adjustment pipe robot permanent magnetism of IRMCK203 The PWM of synchronous motor X and permanent magnet synchronous motor Y output, realize the real-time servo control of two permanent magnet synchronous motors, and DSP passes through CCD acquires duct size information in real time and stores, if DSP has a question to some position of inspection, will communicate with ARM, and ARM sending stops Vehicle instructs and passing through IRMCK203 makes pipe robot stop, and then passes through the acquisition of DSP secondary image and fault localization device pair The state of pipe-line system is judged.
Referring to Fig.1, Fig. 2, Fig. 3 and Fig. 4, specific function are accomplished by
1) after pipe robot power supply opening, ARM can judge battery SOC, if battery SOC is lower, ARM will Forbid IRMCK203 to work, two permanent magnet synchronous motors PWM wave control signal will be blocked, while alarm sensor by work simultaneously Issue alarm signal;If battery SOC is normal, pipe robot enters to working condition;
2) information such as duct length, radius and pipeline topographic map are manually passed to ARM by USB interface by PC machine handle Controller pre-processes duct size information by ARM controller, then the starting end of artificial conduit robot to pipe detection, For walking of the precision navigation pipe robot in closed conduct, ARM controller first turns on pipe robot and is based on three axis The inertial navigation mode of accelerometer;
3) pipe robot ARM controller begins through magnetic navigation sensor ME1 and reads area navigation magnetic stripe, and magnetic navigation passes For the value of feedback of sensor ME1 compared with actual set central value, ARM inputs to IRMCK203 after this deviation is converted, by IRMCK203 is exported according to the PWM of its internal SERVO CONTROL program adjust automatically permanent magnet synchronous motor X and permanent magnet synchronous motor Y, Pipe robot is set to advance at a slow speed along navigation magnetic stripe, while according to peripheral environment, ARM adjusts servo inside IRMCK203 in real time The PI parameter for controlling program, by work, ARM is examined front laser displacement sensor LSF in real time during pipe robot advances Then test tube pipeline robot and front entrance valve F1 distance D allow pipe machine by IRMCK203 within the scope of stably stop Device people's automatic stopping, then original place is self-locking;
4) when front, laser displacement sensor LSF detects that inlet valve F1 is opened, pipe robot will be opened automatic Cruise mode, the distance that controller ARM moves real-time record pipe robot along magnetic stripe, when determining that pipe robot is complete Into after region to be checked, inlet valve F1 will be again switched off, when natural gas leakage device detects that inlet valve F1 is completely closed Afterwards, inlet valve F2 will be opened, at this time front laser displacement sensor LSF by it is secondary judgement front entrance valve F2 state, After determining that valve F2 opening in front entrance side is errorless, pipe robot initially enters region of patrolling and examining and starts to detect inside natural gas line Actual conditions;
5) after pipe robot enters pipe detection region, ARM first according to the feedback of magnetic navigation sensor ME1, reads pipe The numerical value of pipeline robot actual location information and three axis accelerometer A1 determines pipe machine then compared with setting position Device people deviates centre distance and inclined angle, and ARM inputs to IRMCK203 after this deviation signal is converted, IRMCK203 according to Its internal SERVO CONTROL program obtains the PWM wave control signal of two permanent magnet synchronous motors, and is adjusted in real time by driving circuit Pipe robot posture makes pipe robot stable operation in magnetic stripe immediate vicinity, is adjusted in real time according to peripheral environment ARM The PI parameter of SERVO CONTROL program inside IRMCK203;The linear distance that the real-time recorder people of ARM controller has run, away from Ground amendment mark is detected from the amendment sensor S moment, once reading correcting device, the positional distance information of ARM record is wanted The location information that amendment of being subject to indicates eliminates the caused location error of robot when walking;
6) if pipe robot is either encountered magnetic stripe fracture, magnetic navigation in normal motion by external interference Sensor ME1 can not read ground magnetic strip information, at this time left laser displacement sensor LSL and right laser displacement sensor LSR Work will be opened, then the distance input measured is obtained off-centered position to ARM, ARM by the two compared with setting value, ARM inputs to IRMCK203 after converting this deviation signal, IRMCK203 obtains two forever according to its internal SERVO CONTROL program The PWM wave of magnetic-synchro motor controls signal, and adjusts pipe robot posture in real time by driving circuit, keeps pipe robot steady Surely it operates near pipeline planar central.Adjust the PI of SERVO CONTROL program inside IRMCK203 in real time according to peripheral environment ARM Parameter;The linear distance that the real-time recorder people of ARM has run, distance correction sensor S moment detect ground amendment mark, Once read correcting device, ARM record position range information to be subject to amendment mark location information, eliminate robot row Location error when walking;
7) in pipe robot motion process, the CCD moment in Image Acquisition is opened, DSP and real-time storage CCD acquisition The image arrived, DSP are compared the image of acquisition with the standard pipe information of setting, if the appearance of the two comparison result is larger Abnormal, maloperation in order to prevent, DSP issues secondary judgement interrupt requests immediately, and ARM makes an immediate response DSP interrupt, and with IRMCK203 communication, allows pipe robot to stop by IRMCK203, and DSP makes CCD secondary acquisition duct size information and and standard pipe Road information is compared, and to storing after obtaining latest result, continues to move ahead then along pipeline navigation marker;
8) in pipe robot motion process, the humidity sensor moment in humidity collection system is opened, and ARM is deposited in real time The collected humidity information of humidity sensor is stored up, and is compared with the standard pipe humidity information of setting, if the two compares As a result there is larger gap, in order to prevent maloperation, ARM and IRMCK203 are communicated, and pass through SERVO CONTROL inside IRMCK203 The PWM wave of program active accommodation two permanent magnet synchronous motors X and motor Y control signal, and the speed for reducing pipe robot makes it At a slow speed by the region having a question, the PI parameter of SERVO CONTROL program inside IRMCK203 is adjusted in real time according to peripheral environment ARM; Simultaneously ARM immediately to DSP issue interrupt requests, DSP make an immediate response ARM interruption, and increase CCD pipeline acquisition information in liquid water Comparison, DSP stores the doubtful image of steam and actual position information in the region;When pass through suspicious region after, ARM with IRMCK203 communication, and pass through SERVO CONTROL program active accommodation two permanent magnet synchronous motors X and motor Y inside IRMCK203 PWM wave controls signal, and the speed for restoring pipe robot makes its normal inspection pipeline;
9) in pipe robot motion process, the front laser displacement sensor LSF moment is opened, before ARM is handled in real time Square location information, when there is anomalies in front of conduit running, exception will occur in front laser displacement sensor LSF probe value, ARM and IRMCK203 is communicated, and passes through SERVO CONTROL program active accommodation two permanent magnet synchronous motors X inside IRMCK203 and electricity The PWM wave of machine Y controls signal, and the speed for reducing pipe robot makes it drive towards barrier at a slow speed;It is real-time according to peripheral environment ARM Adjust the PI parameter of SERVO CONTROL program inside IRMCK203;ARM issues interrupt requests to DSP immediately simultaneously, and DSP makes an immediate response ARM is interrupted, and increases the comparison of tamper in CCD pipeline acquisition information, and DSP stores the doubtful image of blocking and reality in the region Location information, since the pipe robot of this secondary design is more wheel crawler structures, so ARM control pipe robot can lead to It crosses and clears the jumps and can continue to move ahead;After passing through suspicious region, ARM and IRMCK203 are communicated, and by IRMCK203 The PWM wave of portion SERVO CONTROL program active accommodation two permanent magnet synchronous motors X and motor Y control signal, restore pipe robot Speed make its normal inspection pipeline;
10) in pipe robot motion process, the pipeline inspection sensor based on Hall effect is by work, when pipeline is transported There is exception in row front probe value, and ARM and IRMCK203 are communicated, and pass through SERVO CONTROL program active accommodation inside IRMCK203 The PWM wave of two permanent magnet synchronous motors X and motor Y control signal, and the speed for reducing pipe robot makes it drive towards pipeline at a slow speed Damage suspicious region;According to peripheral environment, ARM adjusts the PI parameter of SERVO CONTROL program inside IRMCK203 in real time;ARM simultaneously Immediately to DSP issue interrupt requests, DSP make an immediate response ARM interruption, and increase CCD pipeline acquisition information in pipe damage ratio 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 mark outer damage.After passing through suspicious region, ARM and IRMCK203 are communicated, and are passed through The PWM wave of SERVO CONTROL program active accommodation two permanent magnet synchronous motors X and motor Y control signal inside IRMCK203, restore The speed of pipe robot makes its normal inspection pipeline;
11) in pipe robot motion process, ARM can store the location of passed through pipeline the moment and either pass through The reference point crossed, and relatively next reference point pipe robot permanent-magnet synchronous is calculated by ARM according to these range informations Motor X and permanent magnet synchronous motor Y distance, the velocity and acceleration to be run respectively, ARM is in conjunction with current of electric feedback, photoelectricity Encoder feedback and the feedback of ground magnetic stripe obtain position error signal, and ARM and IRMCK203 are communicated, and by IRMCK203 The PWM wave of portion SERVO CONTROL program active accommodation two permanent magnet synchronous motors X and motor Y controls signal, make pipe robot by It quickly moves ahead according to setting speed, while being joined according to the PI that peripheral environment ARM adjusts SERVO CONTROL program inside IRMCK203 in real time Number;
12) during the motion if pipe robot detective distance solution occur endless loop will be issued to ARM interrupt ask It asks, ARM can do interruption to be responded at the first time, and ARM controller will forbid pipe robot in Information revision of adjusting the distance, ARM control Device processed is fed back according to pipeline magnetic bar navigation mark and the feedback of left laser displacement sensor LSL and right laser displacement sensor LSR, The speed of adjustment permanent-magnet synchronous X-motor and motor Y in real time guarantees that pipe robot is slowly driven out to towards outlet, and abandons all Collecting work;
13) photoelectric encoder on the permanent magnet synchronous motor X and permanent magnet synchronous motor Y can export its position signal A and Position signal B, the position signal A pulse of photoelectric encoder and the every variation of B pulsed logic state are primary, the location register in ARM Device can add 1 either to subtract 1 according to the traffic direction of motor X and motor Y;The position signal A pulse and B pulse of photoelectric encoder and When Z pulse is low level simultaneously, just generates an INDEX signal and give ARM internal register, record the absolute of permanent magnet synchronous motor Position is then convert into specific location of the pipe robot in pipe detection system;
14) pipe robot calculates battery SOC according to its internal algorithm in operational process ARM controller in real time, if control When device processed discovery power supply energy is lower, ARM can communicate with IRMCK203, DSP, and by DSP closing ccd image collecting work with Image stores work, and adjusts permanent magnet synchronous motor X's and permanent magnet synchronous motor Y by SERVO CONTROL program inside IRMCK203 PWM output, makes pipe robot drive towards exit with slower speed, guarantees that robot can smoothly arrive exit;
15) during pipe robot inspection, if servo controller detects that the torque of permanent magnet synchronous motor occurs Pulsation, due to the orientation on rotor flux that the present invention uses, controller can be easy to compensate this interference, reduce motor Influence of the torque to crusing robot motion process;
16) during pipe robot drives towards outlet valve, when the front laser displacement sensor LSF carried understands It carves and detects its displacement between valve, when determining outlet valve F3 in opening state, pipe robot will open cruise mode, Controller ARM records the distance that pipe robot has been moved along magnetic stripe in real time, when determine robot completely into outlet to After examining region, outlet valve F3 will be closed, and natural gas suction unit will aspirate the natural gas situation in region to be checked, when natural gas is let out When dew device is not detected region to be checked and has natural gas residual, outlet valve F4 will be opened, at this time in front of laser displacement sensor LSF is by the state of secondary judgement front exit valve F4, and after determining that front exit valve F4 opening is errorless, pipe robot is driven out to Pipeline is detected, detection terminal is returned to, waits next sense command.
The invention has the advantages that:
1: in pipe robot motion process, having fully considered the effect of battery in this system, be based on ARM+ The tri- nuclear control device moment of IRMCK203+DSP is all being monitored its state and operation, both avoided due to heavy-current discharge and The generation of caused lithium ion battery overaging phenomenon, and the energy of battery can be effectively predicted, it is pipe robot inspection It provides and is effectively ensured;
2: by IRMCK203 processing two permanent magnet 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 cycle of operation is longer, It is short to shorten the development cycle, and program transportability ability is strong;
3: the present invention realizes full SMD components material substantially, realizes veneer control, not only saves control panel occupancy Space, and be conducive to the mitigation of pipe robot volume and weight;
4: pipe robot of the invention is using permanent magnet synchronous motor instead of common stepping in traditional robot system Motor, direct current generator, DC brushless motor, due to its small volume, efficiency is higher, allows pipe robot volume into one Step reduces, and energy utilization rate greatly improves;
5: it is based on orientation on rotor flux since permanent magnet synchronous motor uses, so that speed adjustable range is wider, speed ratio It is relatively steady, it is very small even if the pulsating torque of low-speed stage motor, be conducive to the dynamic property of raising system;
6: since this controller is using the mass data and algorithm of DSP processing figure acquisition and storage, by IRMCK203 The SERVO CONTROL for managing two axis permanent magnet synchronous motors frees ARM from hard work amount, effectively prevents program " run and fly ", anti-interference ability greatly enhances;
7: in control, ARM can adjust two axis permanent magnet synchronous motor servos in due course according to robot periphery operating condition The PI parameter of control, greatly improves dynamic performance;
8: equipped with humidity collection system on pipe robot, can detect the humidity exceptions area in tunnel easily Domain can effectively find the presence of pipeline water droplet;
9: equipped with image capturing system on pipe robot, can detect that pipeline internal pipeline corrosion etc. is different easily Reason condition, and effectively store its image;
10: the image store function based on DSP facilitates staff to read inspection after making pipe robot completion task As a result, pipeline corrupted information and specific location can easily be read from storage result, then on-call maintenance;
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 conducive to pipeline of finding the problem early;
12: the addition of three axis accelerometer can effectively detect the tilt angle that pipe robot deviates pipeline plane, ARM control Device processed can be adjusted this angle at the moment, effectively control the posture of pipe robot;
13: the addition of magnetic navigation sensor and laser displacement sensor is so that system navigation has certain redundancy, pole The stability of pipe robot is improved greatly;
14: the addition of synchronous belt technology is so that six wheels all have power, while the addition of crawler belt effectively increases pipeline The area that robot contacts in the duct allows robot effectively by the way that it is suitable to improve environment with obstruction object area Ying Xing.
It to sum up tells, the quick natural gas line robot control system of three core, two axis crawler type of the invention, using efficiency With the higher permanent magnet synchronous motor of power density instead of motors such as stepper motor, direct current generators;In order to improve arithmetic speed, Guarantee that the stability and reliability of automatic pipeline robot system, the present invention introduce permanent-magnet synchronous in the controller based on ARM Motor special integrated circuit IRMCK203 and digital signal processor DSP form completely new three based on ARM+ IRMCK203+DSP Nuclear control device, this controller fully consider that battery in the effect of this system, is watched maximum two axis of workload in control system Dress system gives IRMCK203 completion, and battery cell monitoring, path reading, deviation processing etc. give ARM processing, give full play to ARM number According to the relatively fast feature of processing speed, and the functions such as image data acquiring and storage give DSP completion, thereby realize The division of labor of ARM, IRMCK203 and DSP, while can also be communicated between three, real-time perfoming data exchange and calling.
The above description is only an embodiment of the present invention, is not intended to limit the scope of the invention, all to utilize this hair Equivalent structure or equivalent flow shift made by bright description is applied directly or indirectly in other relevant technology necks Domain is included within the scope of the present invention.

Claims (2)

1. a kind of quick natural gas line robot control system of three core, two axis crawler type, which is characterized in that including robot shell Body, laser displacement sensor, magnetic navigation sensor, distance correction sensor, three axis accelerometer, synchronous belt, permanent magnet synchronous electric Machine X and permanent magnet synchronous motor Y, the laser displacement sensor are separately mounted to the front end of robot shell, the magnetic Navigation sensor and distance correction sensor are arranged at the lower section on robot shell and being located at laser displacement sensor, described Synchronous belt be separately positioned on robot shell left and right sides and respectively with permanent magnet synchronous motor X and permanent magnet synchronous motor Y Connection, the three axis accelerometer be arranged on robot shell and be located at permanent magnet synchronous motor X and permanent magnet synchronous motor Y it Between, it further include controller, the controller uses three nuclear control devices, including ARM, IRMCK203 and DSP, the ARM, IRMCK203 and DSP carries out mutual communication connection, and the ARM and IRMCK203 issue first control signal and the second control respectively It is same to control the permanent magnet synchronous motor Y and permanent magnetism by the first control signal and second control signal respectively for signal processed The movement of pipe robot is controlled after the signal synthesis of step motor X again, the laser displacement sensor includes front laser Displacement sensor, left laser displacement sensor and right laser displacement sensor, the front laser displacement sensor setting exist Middle position immediately ahead of robot shell, the left laser displacement sensor and right laser displacement sensor is oblique respectively sets The left and right ends immediately ahead of robot shell are set, it is by an inner circumferential that the synchronous belt, which uses two axis, six wheel drive mode, Surface is equipped with the closed ring crawler belt of equidistant tooth and corresponding belt wheel is formed, the first control signal and the second control Signal is PWM wave control signal, and the ARM uses STM32F746;The DSP uses TMS320F2812, described Quick natural gas line robot control system further includes battery, based on ccd image acquisition unit, image storage unit, humidity Acquisition unit is based on Hall effect pipeline inspection acquisition unit and pipe robot, and electric current drive is provided separately in the battery Move the controller, it is described based on ccd image acquisition unit and image storage unit with DSP communication connection, it is described Humidity collection unit and based on Hall effect pipeline inspection acquisition unit with ARM and IRMCK203 communication connection, described is fast Fast natural gas line robot control system is additionally provided with host computer procedure, is based on ARM motion control program, based on DSP image It acquires and is detected based on Hall effect pipe damage, the host computer procedure further includes that pipeline is read, position positions and electric Source information, described based on ARM motion control program further includes based on two axis permanent magnet synchronous motor SERVO CONTROL of IRMCK203, number It is controlled according to storing with I/O, it is described to detect based on DSP Image Acquisition and based on Hall effect pipe damage respectively and based on CCD Image acquisition units and be based on Hall effect pipeline inspection acquisition unit communication connection, the quick natural gas tube pipeline robot Control system further includes photoelectric encoder, and the photoelectric encoder is separately mounted to permanent magnet synchronous motor X and permanent magnet synchronous electric On machine Y.
2. quick natural gas line robot control system according to claim 1, which is characterized in that the battery is adopted Use lithium ion battery.
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