CN106003058B - A kind of four axis crawler type natural gas line robot control system of dinuclear - Google Patents
A kind of four axis crawler type natural gas line robot control system of dinuclear Download PDFInfo
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- CN106003058B CN106003058B CN201610400366.7A CN201610400366A CN106003058B CN 106003058 B CN106003058 B CN 106003058B CN 201610400366 A CN201610400366 A CN 201610400366A CN 106003058 B CN106003058 B CN 106003058B
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
- B25J9/161—Hardware, e.g. neural networks, fuzzy logic, interfaces, processor
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/006—Controls for manipulators by means of a wireless system for controlling one or several manipulators
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/005—Manipulators mounted on wheels or on carriages mounted on endless tracks or belts
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
- B25J9/1697—Vision controlled systems
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
- F16L55/00—Devices or appurtenances for use in, or in connection with, pipes or pipe systems
- F16L55/26—Pigs or moles, i.e. devices movable in a pipe or conduit with or without self-contained propulsion means
- F16L55/28—Constructional aspects
- F16L55/30—Constructional aspects of the propulsion means, e.g. towed by cables
- F16L55/32—Constructional aspects of the propulsion means, e.g. towed by cables being self-contained
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
- G05D1/0248—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means in combination with a laser
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0259—Control of position or course in two dimensions specially adapted to land vehicles using magnetic or electromagnetic means
- G05D1/0263—Control of position or course in two dimensions specially adapted to land vehicles using magnetic or electromagnetic means using magnetic strips
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
- F16L2101/00—Uses or applications of pigs or moles
- F16L2101/30—Inspecting, measuring or testing
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
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Abstract
The invention discloses four axis crawler type natural gas line robot control systems of dinuclear, the controller uses dual-core controller, including ARM controller and dsp processor, the ARM controller carries out communication with dsp processor and connects, the ARM controller sends out first control signal respectively, second control signal, third controls signal and the 4th control signal, by the first control signal, second control signal, third controls signal and the 4th control signal controls the permanent magnet synchronous motor Y respectively, permanent magnet synchronous motor X, the movement of control pipeline robot again after the synthesis of the signal of permanent magnet synchronous motor Z and permanent magnet synchronous motor R.Through the above way, completely new double-core control model of the independent research of the present invention based on ARM+DSP frees ARM in complicated work, realizes the real-time control of four axis 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 four axis crawler type natural gas line machines of the field of large-scale pipeline robot more particularly to a kind of dinuclear
Device people's control system.
Background technology
The pumped (conveying) medium of natural gas line belongs to inflammable, explosive substance, the hydrogen sulfide contained in medium, carbon dioxide,
The impurity such as free water, dust make the pipeline of laying be in inside and outside etching condition, or even inside will produce obstruction feelings sometimes
Condition occurs.Along with environment, geology, meteorology and hydrological disaster, tubing and design defect, operation error or even artificial destruction etc. because
The safety of element, pipeline is threatened by many factors.
One gas pipeline on June 4th, 1989, the former Soviet Union leaks, and two row are to running a train apart from leakage point 1
Kilometer outside railway line on by when, train friction generate spark cause leakage natural-gas explosion, cause people more than 600 dead
It dies, hundreds of hectares of forests are burnt；In August, 2000, the gas pipeline hair of the 720 mm bores of the New Mexico southeast one
Raw gas explosion causes incessanly to fight greatly and at least causes 10 people dead, and the place other than more than 30 kilometers can be seen
Huge fireball rushes to sky, and ground leaves the hollow place of 25 m of a Taoist priest, deep 6 m after explosion；The oil and gas pipeline in China
Also accident once repeatedly occurs, pipeline occurs the accidents such as explosion, leakage, stopping transportation and not only causes huge property loss, but also endangers
Evil arrives ecological environment.
Pipe robot, which is one kind, carrying one or more sensings along either external automatically walk inside pipeline
Device and operation machinery, complete a series of electromechanics of pipeline operations under the control of operating personnel or under computer controlled automatic
Integral system.The research of pipe robot starts from eighties of last century the forties, to the seventies due to microelectric technique, meter
The development and progress of calculation machine technology, automatic technology, external pipeline robot technique are grown rapidly the beginning of the nineties, are ground
Many experimental prototypes have been made, and have achieved a large amount of achievement in research.
With pipe robot inspection natural gas line, the efficiency of pipe detection can be not only improved, but also for improving labor
Dynamic condition, reduces labor intensity, and improves operating efficiency, reduces operating cost, guarantees personal safety and suffer from highly important meaning
Justice.But it is domestic not yet using pipe robot inspection natural gas line, natural gas line explosion happens occasionally, causes huge
Big economic loss and environmental pollution.
One practical natural gas tube pipeline robot must have following components：
1）Image capturing system：Image capturing system can be found that in pipeline the problem, and can be work
Personnel's offer pipeline is damaged and congestion situations, and reliable basis is provided to replace pipeline either cleaning pipeline；
2）Damage acquisition system：Damage acquisition system can find the abnormal conditions that pipe-line system outer wall occurs in time, keep away
Exempted from pipeline and long-term breakage causes anti-pressure ability to weaken, eventually lead to natural gas largely leakage and generate explosion accident；
3）Humidity detects and obturator detection：If humidity is excessive, the pumped (conveying) medium of natural gas line is easily formed pipeline
Corrosion, while moieties understand heap to generate congestion situations；
4）Motor：Actuating motor is that the power of pipe robot implements component, it converts the energy of power supply in real time, according to pipe
Pipeline robot microprocessor instructs to execute related walking motion of the robot in natural gas line；
5）Algorithm：Algorithm is the soul of natural gas line crusing robot, since natural gas line is a closed pipe
Road, inner case is extremely complex, and natural gas line crusing robot must just can accurately be from pipe using certain intelligent algorithm
It is a little reached in road in addition, forming point-to-point inspection, and real-time storage acquisition image, pipeline steam information, pipeline hinder
Fill in information, pipeline damage situations and damaged location information；
6）Microprocessor：Microprocessor is the core of natural gas tube pipeline robot, is natural gas line inspection machine
The brain of people, all information in pipeline, including humidity, congestion situations, pipe damage information and damage position in pipeline
Information, motor status information, battery status information etc. are required for by microprocessor processes and make corresponding judgement.
The country is only at the early-stage to the research of pipe robot, is to use monokaryon controller, is in laboratory sample
The machine design phase has a certain distance from large-scale use, mainly faces problems with：
（1）By control technique influence, all pipe robots are all made of monokaryon controller, the computing capability of controller compared with
Weak, pipe robot can not quickly handle real time environment, and robot ambulation speed is relatively low, and inspection pipeline speed is slower, and steady
It is qualitative poor；
（2）For being all made of chargeable storage using the energy entrained by motor-driven pipe robot, these storages
Battery is by formation high-voltage great-current energy resource system after simply connecting and being in parallel, and without protection circuit, the service life is shorter,
Often occurs the abnormal work for even interfering with pipe robot when normal work；
（3）For using the stepper motor either pipe robot of direct current generator driving, by motor own efficiency
Influence, energy utilization rate is relatively low, causes robot displacement distance in pipeline shorter；
（4）For using the stepper motor either pipe robot of direct current generator driving, by power of motor density
Influence, since used motor volume is larger, the volume for eventually leading to robot is larger, and heavier-weight seriously affects
The use scope of pipe robot；
（5）Self adjustment capability of pipe robot motion state is poor, is influenced by control mode, and robot is in pipeline
Attitude parameter identification is poor, and the angle of robot None- identified self plane and pipeline principal plane causes to go out when robot ambulation
It now tilts, or even overturns sometimes, lead to mission failure；
（6）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；
（7）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 driving motor is larger, and not only the space occupied is larger, but also sometimes one
The phenomenon that causing " low load with strong power " in the state that a little relative requirements energy are relatively low occurs, and cannot be satisfied under system Biodiversity operating mode
Power demand requirement so that dynamic performance reduces；
（8）Since accelerometer obtains speed and the drift angle of robot by integral and quadratic integral, due to multiple product
Divide so that position of the pipe robot in closed conduit sometimes will appear certain mistake.
The stator of permasyn morot and common electrically excited synchronous motor stator structure having the same, only rotor
On using Nd-Fe-B rare earth permanent magnetic material as magnetic pole instead of the excitation pole of synchronous machine and Exciting Windings for Transverse Differential Protection, make the structure of motor
It is relatively simple, and easy out of order collector ring and brush are eliminated, non-brushing is realized, the reliable of motor running is improved
Property.Because being not required to exciting current, therefore the copper loss of Exciting Windings for Transverse Differential Protection can be saved, greatly improve the efficiency of motor；Rare earth permanent magnet
Material uses so that power of motor density is higher, so the volume of motor be can be made smaller, suitable volume requirement is relatively high
Occasion.Permasyn morot also has the characteristic that rotating speed is accurate, noise is low, rare earth other than having apparent energy-saving effect
Permanent magnet synchronous motor be based on it is rotor field-oriented or based on vector control system can realize high-precision, high dynamic performance,
Large-scale speed governing or location control, these characteristics make rare earth permanent-magnet synchronization motor be particularly suitable for being used in pipe robot this
It is a little to require in more special robot control system.
Crawler-type mobile mechanism is the expansion of wheeled locomotion mechanism, and crawler belt itself plays a part of continuously paving the way to wheel.
Relative to ratcheting mechanism, crawler-type mobile mechanism has many advantages, such as, such as：Bearing area is big, and grounding pressure is small；Rolling resistance
It is small, pass through better performances；Off-road mobility is good；There is grouser on crawler belt bearing surface, be not easy to skid, traction adhesion property is good, favorably
In the tractive force that performance is larger；Crawler-type mobile mechanism is conjugated by changing the position of crawler belt or the mechanism form of crawler belt to reach
The requirement of varying environment is adapted to, the angle of two crawler belts can be adjusted, to adapt to different operation calibers.
Invention content
The invention mainly solves the technical problem of providing a kind of controls of four axis crawler type natural gas tube pipeline robot of dinuclear
System, completely new double-core control model of the independent research based on ARM+DSP, using ARM as processor core, DSP is realized controller
The real-time processing of Image Acquisition digital signal is simultaneously communicated with ARM, and ARM is freed in complicated work, realizes four axis
The real-time control of three-phase permanent magnet synchronous motor, 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 four axis crawler belt of dinuclear
Formula natural gas line robot control system, including battery, controller, permanent magnet synchronous motor X, permanent magnet synchronous motor Y, permanent magnetism are same
Motor Z, permanent magnet synchronous motor R are walked, ccd image collecting 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 collecting unit and pipe robot, the battery
The controller stated uses dual-core controller, including ARM controller and dsp processor, the ARM controller and dsp processor
Carry out communication connection, the ARM controller send out respectively first control signal, second control signal, third control signal and
4th control signal, by the first control signal, second control signal, third control signal and the 4th control signal difference
The signal synthesis of the control permanent magnet synchronous motor Y, permanent magnet synchronous motor X, permanent magnet synchronous motor Z and permanent magnet synchronous motor R
The movement of control pipeline robot again later, it is described based on ccd image collecting unit and image storage unit with DSP processing
Device communication connection, the humidity collection unit and based on Hall effect pipeline inspection collecting unit with ARM controller communicate
Connection.
In a preferred embodiment of the present invention, the battery uses lithium ion battery.
In a preferred embodiment of the present invention, the first control signal, second control signal, third control signal
It is that PWM wave controls signal with the 4th control signal.
In a preferred embodiment of the present invention, the ARM controller uses STM32F746；The dsp processor
Using TMS320F2812.
In a preferred embodiment of the present invention, the pipe robot includes robot shell, laser displacement sensing
Device, magnetic navigation sensor, left fork sensor, right fork sensor, three-axis gyroscope and synchronous belt, the laser displacement
Sensor is separately mounted to the front end of robot shell, and the magnetic navigation sensor is arranged on robot shell and positioned at sharp
The lower section of Optical displacement sensor, the left fork sensor and right fork sensor are located at below magnetic navigation sensor
Left and right ends, the synchronous belt be separately positioned on the left and right sides of robot shell and respectively with permanent magnet synchronous motor X, forever
Magnetic-synchro motor Y, permanent magnet synchronous motor Z are connected with permanent magnet synchronous motor R, and the three-axis gyroscope is arranged in robot shell
It goes up and is located between permanent magnet synchronous motor X and permanent magnet synchronous motor Y.
In a preferred embodiment of the present invention, the laser displacement sensor include front laser displacement sensor,
Left laser displacement sensor and right laser displacement sensor, the described front laser displacement sensor setting robot shell just
The centre position in front, the left laser displacement sensor and right laser displacement sensor are angularly disposed in robot shell respectively
Left and right ends immediately ahead of body.
In a preferred embodiment of the present invention, the synchronous belt uses four axis, eight wheel drive mode, is by one
Perimeter surface is equipped with the closed ring crawler belt of equidistant tooth and corresponding belt wheel is formed.
In a preferred embodiment of the present invention, the natural gas line robot control system is additionally provided with host computer
Program, motion control program are detected, the host computer journey based on DSP Image Acquisition and based on Hall effect pipe damage
Sequence further includes that pipeline is read, position positioning and power information, the motion control program further include same based on tetra- axis permanent magnetism of ARM
Motor servo control, data storage and I/O controls are walked, it is described based on DSP Image Acquisition and based on Hall effect pipe damage
Detection is connected with based on ccd image collecting unit and based on the communication of Hall effect pipeline inspection collecting unit respectively.
In a preferred embodiment of the present invention, the natural gas line robot control system further includes photoelectric coding
Device, the photoelectric encoder are separately mounted to permanent magnet synchronous motor X, permanent magnet synchronous motor Y, permanent magnet synchronous motor Z and permanent magnetism
On synchronous motor R.
The beneficial effects of the invention are as follows：The present invention four axis crawler type natural gas line robot control system of dinuclear, be
It improves the utilization rate of the energy and reduces robot volume, this system efficiency and power density higher permanent magnet synchronous motor
Instead of motors such as stepper motor, direct current generators；In order to improve system acceleration request, system add two it is lower-powered forever
Magnetic-synchro motor plays the role of power-assisted, increases system dynamic characteristic；In order to improve arithmetic speed, ensure automatic pipeline inspection machine
The stability and reliability of people's system, the present invention introduce digital signal processor DSP in the controller based on ARM, form base
In the completely new dual-core controller of ARM+DSP, this controller fully considers effect of the battery in this system, work in control system
The maximum four axis Permanent magnet synchronous servo system of work amount, pipeline are read, ARM processing is given in position positioning and power information, are fully sent out
The relatively fast feature of ARM data processing speeds is waved, and the functions such as image data acquiring and storage give DSP completions, thus
The division of labor of ARM and DSP are realized, while can also be communicated therebetween, carries out data exchange and calling in real time.
Description of the drawings
To describe the technical solutions in the embodiments of the present invention more clearly, make required in being described below to embodiment
Attached drawing is briefly described, it should be apparent that, drawings in the following description are only some embodiments of the invention, for
For those of ordinary skill in the art, without creative efforts, it can also be obtained according to these attached drawings other
Attached drawing, wherein：
Fig. 1 is that the present invention carries four axis crawler type natural gas line robot control system of dinuclear, one preferred embodiment
Schematic diagram；
Fig. 2 is pipe robot two-dimensional structure schematic diagram；
Fig. 3 is the programme diagram of Fig. 1；
Fig. 4 is pipe robot inspection schematic diagram.
Specific implementation mode
The technical scheme in the embodiments of the invention will be clearly and completely described below, it is clear that described implementation
Example is only a part of the embodiment of the present invention, instead of all the embodiments.Based on the embodiments of the present invention, this field is common
All other embodiment that technical staff is obtained without making creative work belongs to the model that the present invention protects
It encloses.
As shown in Figure 1, the embodiment of the present invention includes：
A kind of four axis crawler type natural gas line robot control system of dinuclear, including battery, controller, permanent magnet synchronous electric
Machine X, permanent magnet synchronous motor Y, permanent magnet synchronous motor Z, permanent magnet synchronous motor R, ccd image collecting unit, image storage list are based on
Member, is based on Hall effect pipeline inspection collecting unit and pipe robot at humidity collection unit, and the battery is provided separately
The electric current driving controller, the controller uses dual-core controller, including ARM controller and dsp processor, described
ARM controller carry out communication with dsp processor and connect, the ARM controller sends out first control signal, the second control respectively
Signal, third control signal and the 4th control signal processed, are controlled by the first control signal, second control signal, third
Signal and the 4th control signal control the permanent magnet synchronous motor Y, permanent magnet synchronous motor X, permanent magnet synchronous motor Z and forever respectively
The movement of control pipeline robot again, described based on ccd image collecting unit and figure after the signal synthesis of magnetic-synchro motor R
As storage unit is with dsp processor communication connection, the humidity collection unit and based on the acquisition of Hall effect pipeline inspection
Unit is communicated with ARM controller and is connected.Wherein, the first control signal, second control signal, third control signal and
4th control signal is PWM wave control signal.
Among the above, the ARM controller uses STM32F746；The dsp processor uses TMS320F2812.
The completely new STM32F7 MCU series of products that STMicroelectronics is produced, be global first volume production and
Possess the microcontroller of 32 bit ARM Cortex-M7 processors.Cortex-M7 is newest release in Cortex-M series of products
And the highest processor core of efficiency, completely new STM32F7 MCU be ST STM32 MCU series of products in highest one of efficiency
Product combines Cortex-M7 cores and high-order peripheral unit, can promote application program efficiency, newly-increased new function, extend battery
Service life ensures safety and reduces as far as possible using outer member to save the incomparable advantage such as cost and space.
STM32F7 series of products include STM32F745 and STM32F746, this two products, which are all equipped with, possesses floating-point operation
The Cortex-M7 cores of unit and DSP extended functions, arithmetic speed highest 216MHz.STM32F7 MCU series of products are by ARM
The advantage that Cortex-M7 efficiency surmounts early stage core (for example Cortex-M4) applies to ultimate attainment, and efficiency reaches nearly DSP two
Times, so that this MCU is highly suitable for the application of high-speed electric expreess locomotive control.
TMS320F2812 is 32 fixed-point digital signal processings of novel high-performance for the C28x kernels being compatible with based on code
The instruction execution cycle of device, C28x kernels has reached 6.67ns, and maximum running frequency can reach 150MHz, and F2812 is integrated with
Many peripheral hardwares, provide a whole set of system on chip, and On-Chip peripheral includes mainly 12,2 × 8 tunnel ADC (when most fast 80ns conversions
Between), 2 road SCI, 1 road SPI, 1 road McBSP, 1 road eCAN interfaces etc., and there are two event manager modules (EVA, EVB) for band.Separately
Outside, which also has 3 independent 32 bit CPU timers, and up to 56 GPIO pins being independently programmable.F2812 is used
Unified addressing mode, chip interior has the SARAM of 18K, including totally 5 memory blocks, each memory block are kept by MO, M1, L0, L1, H0
It is independent, it can access to different RAM blocks in the uniform machinery period, to reduce assembly line time delay.And inside F2812
There are the FLASH of 128K words, address space 3D8000h~3F7FFFh, is suitable for low-power consumption, high performance control system.In addition
F2812 provides external memory expansion interface (XINTF), facilitates carry out system extension, addressing space that can reach 1MB；
These characteristics make F2812 while having the data-handling capacity of digital signal processor brilliance, and with suitable for control
Piece in peripheral hardware and interface, can be widely applied in various high performance systems controls, These characteristics so that TMS320F2812 is special
Not Shi He crusing robot figure acquisition, image storage and location information storage.
It is detected automatically in order to accurate guide duct robot, the present invention is using two sets of sensors navigation patterns
（A set of Magnetic Sensor navigation, a set of laser displacement sensor navigation）, pipe robot two-dimensional structure such as Fig. 2 institutes of the invention
Show：The pipe robot includes robot shell K, laser displacement sensor, magnetic navigation sensor ME1, left fork sensing
Device ME2, right fork sensor ME3, three-axis gyroscope G1 and synchronous belt T, the laser displacement sensor are separately mounted to
The front end of robot shell K, the magnetic navigation sensor ME1 are arranged on robot shell K and are sensed positioned at laser displacement
The lower section of device, the left fork sensor ME2 and right fork sensor ME3 are located at below magnetic navigation sensor ME1
Left and right ends, 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,
Permanent magnet synchronous motor Y, permanent magnet synchronous motor Z are connected with permanent magnet synchronous motor R, and the three-axis gyroscope G1 is arranged in robot
On shell K and between permanent magnet synchronous motor X and permanent magnet synchronous motor Y.Wherein, before the laser displacement sensor includes
Square laser displacement sensor LSF, left laser displacement sensor LSL and right laser displacement sensor LSR, the front laser position
The centre position immediately ahead of robot shell K is arranged in displacement sensor LSF, and the left laser displacement sensor LSL and the right side are swashed
The angularly disposed left and right ends immediately ahead of robot shell K respectively Optical displacement sensor LSR.
The magnetic navigation sensor ME1 moment detects the magnetic stripe in pipeline, and sensor is the first navigation criterion according to this, works as magnetic stripe
When the deviation distance that is not present or navigates is larger, left laser displacement sensor sensor LSL and right laser displacement sensor sensor
LSR collective effects judge direction of advance at a distance from the tube wall of left and right, and move along a straight line as pipe robot and provide navigation foundation,
Front laser displacement sensor sensor LSF, which is provided according to for the differentiation of pipe robot advance barrier and stopped to do, to be sentenced
According to.Left fork Magnetic Sensor ME2 and right fork sensor ME3 detects ground fork mark respectively, then respectively as cross pipe
The criterion that road turns left or turns right, and natural gas tube pipeline robot can accurately be compensated in this position, this is for pipe
Pipeline robot inspection pipeline calculating 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
With three-axis gyroscope G1 instead of accelerometer A1 in people's servo hardware system.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 integral.When the posture of pipe robot changes more than setting threshold values,
In a new sampling period controller just immediately to its position compensation, avoid pipe robot in the process of walking because tilting
Generation that is excessive and translating into phenomenon, improves stability when its quick walking navigation；If accumulated to three-axis gyroscope G1
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, generated navigation information continuity it is good and
And noise is very low, greatly enhances the autonomous inertial navigation ability of pipe robot.When pipe robot reads cross pipeline
When 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 for calculating robot rotation ensure that the accuracy of its turning.
Toothed belt transmission is the closed ring adhesive tape and corresponding belt wheel institute group that equidistant tooth is equipped with by an inner peripheral surface
At.When movement, be meshed with tooth with the tooth socket of belt wheel transmission movement and power, is a kind of engaged transmission, thus is passed with gear
Dynamic, chain drive and Belt Drive various advantages.There is toothed belt transmission accurate transmission ratio, no slippage can get constant
Speed ratio, can precision drive, stable drive, can shock-absorbing, noise is small, transmission efficiency, is not required to lubricate, pollution-free, is particularly suitable for
It is not allow for working normally under pollution and the more severe occasion of working environment, compact-sized particularly suitable spinning transmission, therefore
The present invention forms four axis, eight wheel drive mode using synchronous belt technology.
The present invention has developed one kind by four rare-earth permanent-magnetic synchronous electricity to solve the problems, such as that domestic pipeline robot exists
Eight wheel crawler double-core natural gas line crusing robots of machine driving, the larger rare-earth permanent-magnetic synchronous electricity of two power therein
Machine by synchronous belt respectively with left and right four-wheel mechanical linkages, when other two lower-powered motors only have robot acceleration
Open the function of playing power adjustment；Multiple mechanical-assisted wheels of left and right sides pass through crawler belt mechanical linkages, natural gas line respectively
Robot carries out inspection major gas pipeline by its carry sensors.
The present invention has independently invented the completely new double-core based on ARM+DSP under the premise of absorbing external Dynamic matrix control thought
Control model.Controller principle figure such as Fig. 1 of this secondary design：For control panel with ARM (STM32F746) for processor core, DSP is real
The real-time processing of existing Image Acquisition digital signal is simultaneously communicated with ARM (STM32F746), ARM (STM32F746) from the work of complexity
It frees in making, realizes the real-time control of four axis three-phase permanent magnet synchronous motors, and respond DSP interrupt, realize data communication
With storage live signal.
As shown in figure 3, the four axis crawler type natural gas line robot control system of dinuclear is additionally provided with host computer
Program, motion control program are detected, the host computer journey based on DSP Image Acquisition and based on Hall effect pipe damage
Sequence further includes that pipeline is read, position positioning and power information, the motion control program further include same based on tetra- axis permanent magnetism of ARM
Motor servo control, data storage and I/O controls are walked, it is described based on DSP Image Acquisition and based on Hall effect pipe damage
Detection is connected with based on ccd image collecting unit and based on the communication of Hall effect pipeline inspection collecting unit respectively.
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 system acceleration request, system adds two lower-powered permanent magnet synchronous motors and plays the role of power-assisted, increases system
System dynamic characteristics；In order to improve arithmetic speed, ensure the stability and reliability of automatic pipeline crusing robot system, the present invention
Digital signal processor DSP is introduced in the controller based on ARM, forms the completely new dual-core controller based on ARM+DSP, this control
Device processed fully considers effect of the battery in this system, the maximum four axis permanent magnet synchronous servo system of workload in control system
System, pipeline are read, ARM processing is given in position positioning and power information, give full play to the comparatively faster spy of ARM data processing speeds
Point, and the functions such as image data acquiring and storage give DSP completions, thereby realize the division of labor of ARM and DSP, while the two
Between can also be communicated, carry out data exchange and calling in real time.
As shown in figure 4, for the ARM+DSP dual-core controllers designed herein, under power-on state, ARM is first to machine
Device people's battery SOC（State-of-charge）Judged, if battery power is relatively low, controller can send out alarm signal；If battery
The energy is higher, first by PC machine by USB interface information inputs such as inspection natural gas line length and radius to ARM, then manage
Road crusing robot is placed to pipe detection mouth, and robot is introduced into self-locking state, and inlet valve F1 is waited for open, when front is swashed
After Optical displacement sensor LSF determines that valve is opened, pipe robot enters buffer area to be checked, and then inlet valve F1 is closed,
Inlet valve F2 is opened, and pipe robot enters pipe detection region；The image capturing system of pipe robot carrying, humidity are adopted
Collecting system and pipe damage detection device are opened, and pipeline crusing robot is quickly patrolled according to setting speed along inspection route
Inspection, ARM is according to navigation sensor parameter secondary adjustment pipeline crusing robot permanent magnet synchronous motor X, permanent magnet synchronous motor Y
PWM is exported, and realizes that the real-time servo control of two permanent magnet synchronous motors, DSP are acquired duct size information by CCD and stored in real time,
If some position has a question to inspection, it will be communicated with ARM, ARM, which sends out cutoff command, makes pipeline crusing robot stop, so
The state of pipe-line system is judged by the acquisition of DSP secondary images and fault localization device afterwards；If robot completes left
Turn either right-hand rotation inspection subsidiary conduit when again returning to main pipeline, ARM will open assist motor Z and motor R, be passed according to navigation
Sensor parameter and the secondary adjustment pipeline crusing robot permanent magnet synchronous motor X of rate request, permanent magnet synchronous motor Y, magneto Z
It is exported with the PWM of magneto R, realizes the real-time servo control of four permanent magnet synchronous motors, in order to reduce energy consumption, returning
DSP will close the information collection of CCD before going back to main channel.
Referring to Fig.1, Fig. 2, Fig. 3 and Fig. 4, specific function are realized as follows：
1）After pipeline crusing robot power supply opening, ARM can judge battery SOC, if battery SOC is relatively low,
ARM will forbid two permanent magnet synchronous motors to work, and motor input PWM wave is blocked, while alarm sensor will work and send out
Alarm signal；If battery SOC is normal, pipeline crusing robot, which enters, waits for working condition, waits for work order；
2）Manually the information such as duct length, radius and pipeline topographic map are passed to by USB interface by PC machine handle
ARM anticipates duct size information by ARM, then the starting end of artificial conduit crusing robot to pipe detection, for essence
Really walking of the navigation pipe robot in closed conduct, ARM first turn on inertia of the pipe robot based on three-axis gyroscope
Navigation pattern；
3）Pipe robot ARM controller begins through magnetic navigation sensor ME1 and reads area navigation magnetic stripe, then magnetic conductance
Compared with actual set central value, ARM is watched according to the size of deviation by its internal three closed loop the value of feedback of boat sensor ME1
The PWM outputs of clothes control program adjust automatically permanent magnet synchronous motor X and permanent magnet synchronous motor Y, make pipe robot along navigation
Magnetic stripe advances at a slow speed, while front laser displacement sensor LSF, by work, ARM detects pipe robot and front entrance in real time
The distance D of valve F1, the then automatic stopping within the scope of stably stop, 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 controller determines that robot is complete
After entering region to be checked entirely, inlet valve F1 will be again switched off；Natural gas leakage device detects that inlet valve F1 is completely closed
Afterwards, inlet valve F2 will be opened, and front laser displacement sensor LSF is by the state of secondary judgement front entrance valve F2 at this time,
After determining that front entrance valve F2 openings are errorless, pipe robot initially enters practical inside region of patrolling and examining detection natural gas line
Situation;
5）After pipe robot enters detection zone, if robot during main pipeline inspection, left fork sensor
ME2 reads ground turning mark, and ARM corrects the location information of pipe robot in the duct according to ground installation first, eliminates
Pipe robot walking error；ARM according to system speed and acceleration requirement, then in conjunction with current of electric, photoelectric encoder and
The feedback of three-axis gyroscope G1 adjusts the pwm control signal of robot permanent magnet synchronous motor X and motor Y, makes pipeline machine in real time
People is stopped in distance R, and then the feedback of ARM combinations three-axis gyroscope G1 makes pipe robot rotate in place 90 degree of a left side, machine
People enters left turnout and cruises；In left turnout detection process, the front laser displacement sensor LSF moment opens and detects doubtful
Like tamper and detect at a distance from the terminal of front；ARM records advance in real time according to the feedback of front laser displacement sensor LSF
Distance, and so that robot is effectively stopped in effective range before the terminal of turnout, pipe robot is controlled in three-axis gyroscope G1
180 degree is rotated in place under system to prepare to return to main channel；Since inspection finishes on left turnout, in order to make pipe robot quickly return
It returns in main pipeline, ARM opens power-assisted permanent magnet synchronous motor Z and permanent magnet synchronous motor R, so that system is entered and accelerates return state；
In entire return course, ARM is according to system speed and acceleration requirement, then in conjunction with current of electric, photoelectric encoder and three
The feedback of axis gyroscope G1 adjusts the pwm control signal of robot permanent magnet synchronous motor X, motor Y, motor Z and motor R in real time,
It allows the robot to accelerate to return to main pipeline along landing ground magnetic stripe；
6）After pipe robot enters detection zone, if robot during main pipeline inspection, right fork sensor
ME3 reads ground turning mark, and ARM corrects the location information of pipe robot in the duct according to ground installation first, eliminates
Pipe robot walking error；ARM according to system speed and acceleration requirement, then in conjunction with current of electric, photoelectric encoder and
The feedback of three-axis gyroscope G1 adjusts the pwm control signal of robot permanent magnet synchronous motor X and motor Y, robot is made to exist in real time
It stops in distance R, then the feedback of ARM combinations three-axis gyroscope G1 makes pipe robot rotate in place 90 degree of the right side, pipeline machine
People enters right turnout and cruises；In right turnout detection process, the front laser displacement sensor LSF moment opens and detects doubtful
Like tamper and detect at a distance from the terminal of front；ARM records advance in real time according to the feedback of front laser displacement sensor LSF
Distance, and so that robot is effectively stopped in effective range before the terminal of turnout, robot is under three-axis gyroscope G1 controls
180 degree is rotated in place to prepare to return to main channel；Since inspection finishes on right turnout, in order to make robot return quickly to supervisor
In road, ARM opens power-assisted permanent magnet synchronous motor Z and permanent magnet synchronous motor R, so that system is entered and accelerates return state；Entirely returning
During returning, ARM is according to system speed and acceleration requirement, then in conjunction with current of electric, photoelectric encoder and three-axis gyroscope
The feedback of G1, adjusts the pwm control signal of robot permanent magnet synchronous motor X, motor Y, motor Z and motor R in real time, and pipeline makes machine
Device people can speed up returns to main pipeline along landing ground magnetic stripe；
7）Pipe robot is in entire detection zone motion process, the first feedbacks according to magnetic navigation sensor ME1 of ARM,
The numerical value of pipe robot actual location information and three-axis gyroscope G1 is read, and compared with setting position, determines pipeline
Robot deviates centre distance and inclined angle, and ARM controller is in conjunction with current of electric feedback, photoelectric encoder feedback and three
The feedback of axis gyroscope G1, the PWM wave for obtaining two permanent magnet synchronous motors according to its internal three Close loop servo control program control
Signal, and adjust pipe robot posture in real time by driving circuit makes pipe robot stable operation in magnetic stripe immediate vicinity,
ARM and the air line distance that recorder people has run in real time, the distance correction sensor S moment, which detects ground and corrects, to be indicated, one
Denier reads correcting device, and the positional distance information of ARM records will be subject to the location information for correcting mark, eliminate robot and exist
Caused site error when walking;
8）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, for the two by the distance input measured to ARM, ARM obtains off-centered position, ARM compared with setting value
In conjunction with current of electric feedback, the feedback of photoelectric encoder feedback and three-axis gyroscope, according to its internal three Close loop servo control
Program obtains the pwm control signal of two permanent magnet synchronous motors, and adjusts pipe robot posture in real time by driving circuit, makes
Pipe robot stable operation is near pipeline planar central, ARM and the air line distance that recorder people has run in real time, away from
Detect ground from the sensor S moment is corrected and correct and indicate, once reading correcting device, ARM record positions range information will be with
Subject to the location information for correcting mark, site error when pipe robot walking is eliminated；
9）In pipe robot motion process, the CCD moment in image capturing system opens, DSP and real-time storage CCD
The image collected, DSP are compared the image of acquisition with the standard pipe information of setting, if the two comparison result occurs
Larger gap, in order to prevent maloperation, DSP send out secondary interrupt requests immediately, and ARM makes an immediate response DSP interrupt, and allow pipe machine
Device people is stopped, and DSP controls CCD secondary acquisition duct size informations, and DSP stores the image and is compared with standard pipe information for bis- times
It obtains latest result and stores, ARM, which reopens permanent magnet synchronous motor X and permanent magnet synchronous motor Y, makes pipe robot along pipe
Road navigation marker continues to move ahead；
10）In pipe robot motion process, the humidity sensor moment in humidity collection system opens, and ARM is real-time
The collected humidity information of humidity sensor is stored, and is compared with the standard pipe humidity information of setting, if the two ratio
There is larger gap to result, maloperation in order to prevent, ARM by internal three Close loop servo control program active accommodations two forever
The pwm control signal of magnetic-synchro motor X and motor Y, reducing the speed of pipe robot makes it at a slow speed by the region that has a question, together
When ARM send out interrupt requests to DSP immediately, DSP makes an immediate response ARM interruptions, and increases liquid water in CCD pipelines acquisition information
It compares, DSP stores the doubtful image of liquid water and actual position information in the region, before then ARM control pipelines robot continues
Row, after by suspicious region, ARM controller passes through internal three two permanent magnet synchronous electrics of Close loop servo control program active accommodation
The pwm control signal of machine X and motor Y, restoring the speed of pipe robot makes its normal inspection pipeline；
11）In pipe robot motion process, the front laser displacement sensor LSF moment opens, and ARM is in real time before processing
Square location information, when there is anomalies in front of conduit running, exception will occur in front laser displacement sensor LSF probe values,
ARM can by the pwm control signal of three Close loop servo control program active accommodation two permanent magnet synchronous motors X and motor Y of inside,
Reducing the speed of pipe robot makes it drive towards barrier at a slow speed, while ARM sends out interrupt requests to DSP immediately, and DSP is rung immediately
It answers ARM to interrupt, and increases the comparison of tamper in CCD pipelines acquisition information, DSP stores the doubtful image of blocking and reality in the region
Border location information, since the pipe robot of this secondary design is more wheel crawler structures, so ARM control pipelines robot can be with
It is moved ahead by clearing the jumps and can continue, after by suspicious region, ARM controller passes through internal three Close loop servo control journeys
The pwm control signal of sequence active accommodation two permanent magnet synchronous motors X and motor Y, restoring the speed of pipe robot keeps it 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 can pass through three Close loop servo control program active accommodation two permanent magnet synchronous motors X of inside
With the pwm control signal of motor Y, reducing the speed of pipe robot makes it drive towards pipe damage suspicious region, while ARM at a slow speed
Interrupt requests are sent out to DSP, DSP makes an immediate response ARM interruptions, and increases the ratio of pipe damage in CCD pipelines acquisition 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 controller is watched by internal three closed loops
The pwm control signal of clothes control program active accommodation two permanent magnet synchronous motors X and motor Y, restore the speed of pipe robot
Make its normal inspection pipeline；
13）In pipeline crusing robot motion process, ARM can store at the moment the location of passed through pipeline or
Be by reference point, and relatively next reference point pipeline crusing robot is calculated by ARM according to these range informations
Permanent magnet synchronous motor X and permanent magnet synchronous motor Y distance, speed and the acceleration to be run respectively, ARM are anti-in conjunction with current of electric
Feedback, photoelectric encoder are fed back and the feedback of ground magnetic stripe, and it is same to obtain two permanent magnetism according to its internal three Close loop servo control program
The pwm control signal for walking motor, makes pipe robot quickly move ahead according to setting speed；
14）During the motion if the solution of pipeline crusing robot detective distance occurs during endless loop will send out to ARM
Disconnected request, ARM can do interruption and respond at the first time, and ARM controller will forbid pipeline crusing robot to be repaiied in information of adjusting the distance
Just, ARM controller is according to pipeline magnetic bar navigation mark feedback, left laser displacement sensor LSL and right laser displacement sensor LSR
Feedback, adjust the speed of permanent-magnet synchronous X-motor and motor Y in real time, ensure that robot is slowly driven out to towards outlet, and abandon one
Cut collecting work；
15）Light on permanent magnet synchronous motor X, permanent magnet synchronous motor Y, permanent magnet synchronous motor Z and permanent magnet synchronous motor R
Photoelectric coder can export its position signal A and position signal B, the position signal A pulses of photoelectric encoder and B pulsed logic states
Often variation is primary, and the location register in ARM can add 1 either according to the traffic direction of motor X, motor Y, motor Z and motor R
Subtract 1；When the position signal A pulses and B pulses and Z pulses of photoelectric encoder are low level simultaneously, an INDEX signal is just generated
ARM internal registers are given, the absolute position of permanent magnet synchronous motor is recorded, are then convert into pipeline crusing robot in pipe detection
Specific location in system；
16）Pipeline crusing robot calculates battery SOC in real time in operational process ARM controller according to its internal algorithm, such as
When fruit controller finds that the energy content of battery is relatively low, ARM can be communicated with DSP, and close ccd image collecting work and image by DSP
Work is stored, and adjusts permanent magnet synchronous motor X's and permanent magnet synchronous motor Y by its internal three closed loop servo-control system program
PWM is exported, and pipe robot is made to drive towards exit with slower speed, ensures that robot can smoothly arrive exit；
17）During pipe robot inspection, if servo controller detects that the torque of permanent magnet synchronous motor occurs
Pulsation, since the four axis permanent magnet synchronous motors control that the present invention uses is all based on vector controlled, controller can be easy to
This interference is compensated, influence of the motor torque to crusing robot motion process is reduced；
18）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,
ARM records the distance that pipe robot has been moved along magnetic stripe in real time, when determining robot completely into exporting region to be checked
Afterwards, 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 leakage device
When region to be checked, which is not detected, natural gas residual, outlet valve F4 will be opened, and front laser displacement sensor LSF is by two at this time
The secondary state for judging front exit valve F4, after determining that front valve opening is errorless, pipe robot is driven out to detection pipeline, returns to
Terminal is detected, next sense command is waited for.
The invention has the advantages that：
1, it in pipeline crusing robot motion process, has fully considered the effect of battery in this system, has been based on ARM
+ DSP dual-core controller the moment is all being monitored its state and operation, has both avoided the lithium caused by heavy-current discharge
The generation of ion battery overaging phenomenon, and the energy of battery can be effectively predicted, it has been provided for pipe robot inspection
Effect ensures；
2：By SERVO CONTROL of ARM processing pipeline four permanent magnet synchronous motors of crusing robot based on vector controlled and move
Power adjusts so that control is fairly simple, substantially increases arithmetic speed, solves scm software and runs slower bottleneck, contracting
The short development cycle is short, and program transportability ability is strong；
3：The present invention realizes full SMD components material substantially, realizes veneer control, not only saves control panel occupancy
Space, and be conducive to the mitigation of pipeline crusing robot volume and weight；
4：Inventive pipeline crusing robot is using permanent magnet synchronous motor instead of commonly being walked in traditional robot system
Stepper motor, direct current generator, DC brushless motor, due to its small volume, efficiency is higher so that pipe robot volume can be into
One step reduces, and energy utilization rate greatly improves；
5：Due to using the permanent magnet synchronous motor based on vector controlled so that speed adjustable range is wider, and contrast of regulating speed is 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 the DSP acquisition of processing figure and storage, ARM from heavy
It frees in workload, effectively prevents " run and fly " of program, anti-interference ability greatly enhances；
7：In control, ARM can adjust four axis permanent magnet synchronous motor servos in due course according to robot periphery operating condition
The pid parameter of control realizes segmentation P, PD, PID control and nonlinear PID controller, dynamic performance is made to greatly improve；
8：Equipped with humidity collection system on pipeline crusing robot, it can detect that the humidity in tunnel is abnormal easily
Region can effectively find the presence of pipeline water droplet；
9：Equipped with image capturing system on pipeline crusing robot, it can detect that pipeline internal pipeline corrodes easily
Etc. abnormal conditions, and effectively store its image；
10：Image store function based on DSP facilitates staff to read after making pipeline crusing robot completion task
Inspection is 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 pipeline crusing robot, can examine easily
The abnormal conditions such as pipeline external corrosive pipeline and damage are measured, pipeline of pinpointing the problems early is conducive to；
12：The addition of three-axis gyroscope G1 can effectively detect the angle of inclination that pipe robot deviates pipeline plane, ARM meetings
Moment is adjusted this angle, effectively controls the posture of pipe robot；
13：Turning navigation marker cooperation left and right sides laser displacement sensor in ground allows system easily to read pipeline letter
Breath, is conducive to the elimination of positioning and site error of the pipe robot in complicated pipeline；
14：The addition of three-axis gyroscope G1 can effectively measure the speed that pipe robot occurs in line navigation and direction is inclined
It moves, reliable basis is improved for inertial navigation of the robot in complicated pipeline；
15：The addition of three-axis gyroscope G1 can effectively measure pipe robot turning when angle, be robot in complexity
Turning navigation in pipeline improves reliable basis；
16：The addition of magnetic navigation sensor and laser displacement sensor is so that system navigation has certain redundancy, pole
The big stability for improving pipeline crusing robot；
17：The addition of power-assisted wheel is so that the power performance of system is adjusted with optional so that robot can meet not
With the power demand under operating mode so that the adaptability of robot is reinforced；
18：The addition of synchronous belt technology makes mechanical-assisted wheel all have power, while the addition of crawler belt effectively increases
The area that pipe robot contacts in the duct allows robot effectively by with obstruction object area, improving ring
Border adaptability；
19：The addition of three-axis gyroscope can effectively measure the speed that pipe robot occurs in line navigation and direction is inclined
It moves, reliable basis is improved for inertial navigation of the robot in complicated pipeline.
It to sum up tells, four axis crawler type natural gas line robot control system of dinuclear of the invention, in order to improve the energy
Utilization rate and reduce robot volume, this system efficiency and the higher permanent magnet synchronous motor of power density are instead of stepping
The motors such as motor, direct current generator；In order to improve system acceleration request, system adds two lower-powered permanent magnet synchronous motors
Play the role of power-assisted, increases system dynamic characteristic；In order to improve arithmetic speed, ensure the steady of automatic pipeline crusing robot system
Qualitative and reliability, the present invention introduce digital signal processor DSP in the controller based on ARM, are formed based on ARM+DSP's
Completely new dual-core controller, this controller fully considers effect of the battery in this system, and workload in control system is maximum
Four axis Permanent magnet synchronous servo systems, pipeline are read, ARM processing is given in position positioning and power information, are given full play at ARM data
Manage the relatively fast feature of speed, and the functions such as image data acquiring and storage give DSP completions, thereby realize ARM with
The division of labor of DSP, while can also be communicated therebetween, data exchange and calling are carried out in real time.
Example the above is only the implementation of the present invention is not intended to limit the scope of the invention, every to utilize this hair
Equivalent structure or equivalent flow shift made by bright description is applied directly or indirectly in other relevant technology necks
Domain is included within the scope of the present invention.
Claims (2)
1. a kind of four axis crawler type natural gas line robot control system of dinuclear, which is characterized in that including battery, controller,
Permanent magnet synchronous motor X, permanent magnet synchronous motor Y, permanent magnet synchronous motor Z, permanent magnet synchronous motor R, based on ccd image collecting unit,
Image storage unit, is based on Hall effect pipeline inspection collecting unit and pipe robot, the electricity at humidity collection unit
The electric current driving controller is provided separately in pond, and the controller uses dual-core controller, including ARM controller and DSP
Processor, the ARM controller and dsp processor carry out communication and connect, and the ARM controller sends out the first control respectively
Signal, second control signal, third control signal and the 4th control signal, are believed by the first control signal, the second control
Number, that third control signal and the 4th control signal control the permanent magnet synchronous motor Y, permanent magnet synchronous motor X, permanent magnetism respectively is same
The signal synthesis movement of control pipeline robot again later of motor Z and permanent magnet synchronous motor R is walked, it is described based on ccd image
Collecting unit and image storage unit are with dsp processor communication connection, the humidity collection unit and based on Hall effect
Pipeline inspection collecting unit is communicated with ARM controller and is connected, the first control signal, second control signal, third control
Signal processed and the 4th control signal are PWM wave control signal, and the ARM controller uses STM32F746；The DSP
It includes robot shell, laser displacement sensor, magnetic navigation biography that processor, which uses TMS320F2812, the pipe robot,
Sensor, left fork sensor, right fork sensor, three-axis gyroscope and synchronous belt, laser displacement sensor difference
Mounted on the front end of robot shell, the magnetic navigation sensor is arranged on robot shell and is sensed positioned at laser displacement
The lower section of device, the left fork sensor and right fork sensor are located at the left and right ends below magnetic navigation sensor,
The synchronous belt be separately positioned on the left and right sides of robot shell and respectively with permanent magnet synchronous motor X, permanent magnet synchronous electric
Machine Y, permanent magnet synchronous motor Z are connected with permanent magnet synchronous motor R, and the three-axis gyroscope is arranged on robot shell and is located at
Between permanent magnet synchronous motor X and permanent magnet synchronous motor Y, the laser displacement sensor include front laser displacement sensor,
Left laser displacement sensor and right laser displacement sensor, the described front laser displacement sensor setting robot shell just
The centre position in front, the left laser displacement sensor and right laser displacement sensor are angularly disposed in robot shell respectively
Left and right ends immediately ahead of body, the synchronous belt use four axis, eight wheel drive mode, are equipped between grade by an inner peripheral surface
Closed ring crawler belt and corresponding belt wheel away from tooth are formed, and the natural gas line robot control system is additionally provided with
Position machine program, motion control program are detected based on DSP Image Acquisition and based on Hall effect pipe damage, and described is upper
Machine program further includes that pipeline is read, position positioning and power information, the motion control program further include being based on tetra- axis of ARM forever
Magnetic-synchro motor servo control, data storage and I/O controls, it is described based on DSP Image Acquisition and based on Hall effect pipeline
Fault localization is connected with based on ccd image collecting unit and based on the communication of Hall effect pipeline inspection collecting unit respectively, described
Natural gas line robot control system further include photoelectric encoder, the photoelectric encoder is separately mounted to permanent-magnet synchronous
On motor X, permanent magnet synchronous motor Y, permanent magnet synchronous motor Z and permanent magnet synchronous motor R.
2. natural gas line robot control system according to claim 1, which is characterized in that the battery uses lithium
Ion battery.
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| CN101887037A (en) * | 2010-04-27 | 2010-11-17 | 丹东奥龙射线仪器有限公司 | Wheel-type X-ray flaw detection robot device |
| CN105334853A (en) * | 2015-08-24 | 2016-02-17 | 铜陵学院 | Double-core high-speed four-wheel miniature micro-mouse sprint controller |
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