CN106078734A - One is wirelessly transferred dinuclear four axle crawler type natural gas line robot control system - Google Patents

Abstract

The invention discloses one and be wirelessly transferred dinuclear four axle crawler type natural gas line robot control system, described controller uses dual-core controller, including ARM and DSP, described ARM and DSP carries out communication connection by wireless device, described ARM sends the first control signal and the second control signal respectively, control the motion of pipe robot again after the signal syntheses being controlled described permagnetic synchronous motor Y and permagnetic synchronous motor X by the first described control signal and the second control signal respectively, described DSP sends the 3rd control signal and the 4th control signal respectively, the 3rd described control signal and the 4th control signal are controlled described direct current generator A respectively, it is connected with based on ccd image collecting unit communication after the signal syntheses of direct current generator B.By the way, the present invention has independently invented the brand-new double-core control model based on ARM+DSP, and ARM is freed in the middle of complicated work, it is achieved data communication and storage live signal.

Description

One is wirelessly transferred dinuclear four axle crawler type natural gas line robot control system

Technical field

The present invention relates to the field of large-scale pipeline robot, particularly relating to one, to be wirelessly transferred dinuclear four axle crawler type natural Feed channel robot control system.

Background technology

The pumped (conveying) medium of natural gas line belongs to material inflammable, explosive, the hydrogen sulfide containing in medium, carbon dioxide, The impurity such as free water, dust, makes the pipeline laying be in inside and outside etching condition, and inside can produce obstruction feelings even sometimes Condition occurs.Add environment, geology, meteorology and hydrological disaster, tubing and design defect, operational error or even artificial destruction etc. because of Element, the safety of pipeline is threatened by many factors.

On June 4th, 1989, a gas pipeline of the former Soviet Union leaks, two row to run a train distance leakage point 1 When passing through in the railway line outside Gong Li, train friction produces the natural-gas blast that spark causes leakage, causes people more than 600 dead Dying, hundreds of hectares of forests are burnt；In August, 2000, the gas pipeline of one the 720 mm bore in the southeast, New Mexico is sent out Raw gas explosion, causing incessanly fights greatly at least causes 10 people dead, and the place beyond more than 30 kilometers can be seen Huge fireball rushes to sky, and after blast, ground leaves one length 25 m, the hollow place of deep 6 m；The oil and gas pipeline of China is also Once repeatedly having an accident, the accident such as pipeline generation explosion, leakage, stopping transportation not only causes huge property loss, and jeopardizes Ecological environment.

Pipe robot is that one can carry one or more sensings along pipe interior or outside walking automatically Device and operation machinery, or complete the electromechanics of a series of pipeline operations under the control of operating personnel 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 Calculating machine technology, the development and progress of automatic technology, external pipeline robot technique has obtained fast development the beginning of the nineties, has ground Make many experimental prototypes, and achieve substantial amounts of achievement in research.

Patrol and examine natural gas line with pipe robot, be possible not only to improve the efficiency of pipe detection, and for improving labor Dynamic condition, reduces labor intensity, and improves operating efficiency, reduces operating cost, guarantees personal safety and suffer from highly important meaning Justice.But domestic also not using pipe robot to patrol and examine natural gas line, natural gas line blast happens occasionally, and causes huge Big economic loss and environmental pollution.

The natural gas tube pipeline robot of one superior performance must possess following components:

1) image capturing system: image capturing system is it appeared that produced problem in pipeline, it is possible to be staff There is provided pipeline impaired and congestion situations, provide reliable basis for changing pipeline or cleaning pipeline；

2) acquisition system is damaged: damage acquisition system can find the abnormal conditions that pipe-line system outer wall occurs in time, it is to avoid Pipeline and long-term breakage causes anti-pressure ability to weaken, ultimately result in natural gas and reveal in a large number and produce explosion accident and occur；

3) humidity detection and obturator detection: if humidity is excessive, the pumped (conveying) medium of natural gas line is easily formed corrosive pipeline, Moieties can pile up generation congestion situations simultaneously；

4) motor: actuating motor is that the power of pipe robot implements parts, and it converts the energy of power supply in real time, according to pipe machine The instruction of device people's microprocessor performs related walking motion in natural gas line for the robot；

5) algorithm: algorithm is the soul of natural gas tube pipeline robot, owing to natural gas line is a pipeline closed, internal feelings Condition is extremely complex, and it is another that natural gas tube pipeline robot must use certain intelligent algorithm just a little can accurately reach in pipeline Outer a little form point-to-point patrolling and examining, and real-time storage to gather image, pipeline steam information, pipeline obstruction information, pipeline impaired Situation and damaged location information；

6) microprocessor: microprocessor is the core of natural gas tube pipeline robot, is the brain of natural gas tube pipeline robot； All of information in pipeline, including humidity in pipeline, congestion situations, pipe damage information and damage position information, motor Status information, battery status information etc. are required for through microprocessor processes and make corresponding judgement；

7) radio transmitting device: in order in time discovery and process problem, automatic Pipeline robot must use without traditional thread binding Put, the IMAQ that real-time Transmission is patrolled and examined and damage collection result, and problem place can be determined by master station's secondary.

The domestic research to pipe robot is simply at the early-stage, is all to use monokaryon controller, is in laboratory sample The machine design phase, from large-scale use, there is a certain distance, mainly face problems with:

(1) controlled technique influence, all of pipe robot all uses monokaryon controller, and the computing capability of controller is more weak, Pipe robot cannot quickly process real time environment, and robot ambulation speed is relatively low, and inspection pipeline speed is relatively slow, dry by the external world Disturb and affect less stable；

(2) for employing, the energy entrained by motor-driven pipe robot all uses chargeable storage, these batteries Being all to form high-voltage great-current energy resource system after simple series connection and parallel connection, all unprotected circuit, the life-span is shorter, normally The abnormal work even interfering with pipe robot often occurs during work；

(3) for the pipeline robot using stepper motor or pipe to be DC motor Driver, by the shadow of motor own efficiency Ringing, energy utilization rate is relatively low, causes robot displacement in pipeline shorter；

(4) for using the pipe robot of stepper motor or DC motor Driver, by the shadow of power of motor density Ringing, owing to the motor volume being used is all relatively big, the volume ultimately resulting in robot is relatively big, and heavier-weight has had a strong impact on pipe The range of pipeline robot；

(5) pipe robot motion state oneself adjustment capability is poor, and controlled mode affects, attitude in pipeline for the robot Parameter identification is poor, the angle of robot None-identified oneself's plane and pipeline principal plane, causes occurring inclining during robot ambulation Tiltedly, even overturn sometimes, cause mission failure；

(6) for the natural gas line having obstruction, common wheeled robot is less with contact area of ground, and obstacle climbing ability is relatively Weak, even cannot clear the jumps sometimes, finally cannot patrol and examine the task of completing；

(7) most of at present pipe robot, poor to the Context awareness in pipeline, is all by analyzing the collection image storing Carrying out analysis conduit situation, real-time condition resolving ability is poor.

The stator of permasyn morot and common electrically excited synchronous motor have identical stator structure, simply rotor On instead of excitation pole and the Exciting Windings for Transverse Differential Protection of synchronous motor using Nd-Fe-B rare earth permanent magnetic material as magnetic pole, make the structure of motor Relatively simple, and eliminate easy out of order collector ring and brush, it is achieved that non-brushing, improve the reliable of motor running Property.Because being not required to exciting current, therefore can save the copper loss of Exciting Windings for Transverse Differential Protection, greatly improving the efficiency of motor；Rare earth permanent magnet The use of material makes power of motor density higher, so the volume of motor be can be made smaller, applicable volume requirement is higher Occasion.Permasyn morot, in addition to having obvious energy-saving effect, also has the characteristic that rotating speed is accurate, noise is low, rare earth Permagnetic synchronous motor based on rotor field-oriented or based on vector control system be capable of high accuracy, high dynamic performance, Large-scale speed governing or positioning control, these characteristics make rare earth permanent-magnet synchronization motor be particularly suitable for being used in pipe robot this In the more special robot control system of a little requirements.

Crawler-type mobile mechanism is the expansion of wheeled locomotion mechanism, and crawler belt itself plays a part to pave the way continuously to wheel. Relative to ratcheting mechanism, there is plurality of advantages in crawler-type mobile mechanism, such as: bearing area is big, and grounding pressure is little；Rolling resistance Little, pass through better performances；Off-road mobility is good；Having grouser on crawler belt bearing-surface, being difficult to skid, traction adhesion property is good, favorably In the bigger tractive force of performance；Displacement crawler-type mobile mechanism is by changing the mechanism form of the position of crawler belt or crawler belt to reach Adapting to the requirement of varying environment, the angle of two crawler belts can be regulated, to adapt to different operation calibers.

Content of the invention

The technical problem that present invention mainly solves is to provide one and is wirelessly transferred dinuclear four axle crawler type natural gas line machine Device people's control system, independent research is based on the brand-new double-core control model of ARM+DSP, and control panel is with ARM as processor core The heart, DSP realizes the Real-time Collection of IMAQ data signal, stores, is wirelessly transferred and CCD two axle DC servo alignment system Control, and moment and ARM communication, free ARM in the middle of complicated work, and ARM realizes two axle three-phase permanent synchronization electricity The real-time control of machine, and respond DSP interrupt, it is achieved data communication and storage live signal.

For solving above-mentioned technical problem, one aspect of the present invention is: provides one and is wirelessly transferred dinuclear Four axle crawler type natural gas line robot control systems, including battery, controller, permagnetic synchronous motor X, permagnetic synchronous motor Y, direct current generator A, direct current generator B, based on ccd image collecting unit, image storage unit, humidity collection unit, based on Hall Effect pipeline inspection collecting unit, wireless device and pipe robot, described battery is provided separately described in electric current driving Controller, described controller uses dual-core controller, including ARM and DSP, described ARM and DSP is carried out by wireless device Communication connects, and described is all connected with DSP communication based on ccd image collecting unit and image storage unit, and described humidity is adopted Collecting unit and being all connected with ARM communication based on Hall effect pipeline inspection collecting unit, described ARM sends the first control respectively Signal and the second control signal, controlled described permanent magnet synchronous electric respectively by the first described control signal and the second control signal Controlling the motion of pipe robot after the signal syntheses of machine Y and permagnetic synchronous motor X again, described DSP sends the 3rd respectively Control signal and the 4th control signal, controlled described direct current respectively by the 3rd described control signal and the 4th control signal Machine A, direct current generator B signal syntheses after be connected with based on ccd image collecting unit communication.

In a preferred embodiment of the present invention, described battery uses lithium ion battery.

In a preferred embodiment of the present invention, described the first control signal, the second control signal are the control of PWM ripple Signal.

In a preferred embodiment of the present invention, described ARM uses STM32F746；Described DSP uses TMS320F2812。

In a preferred embodiment of the present invention, described pipe robot includes robot housing, laser displacement sensing Device, magnetic navigation sensor, distance correction sensor, three axis accelerometer and Timing Belt, described laser displacement sensor divides Not being arranged on the front end of robot housing, described magnetic navigation sensor and distance correction sensor are arranged at robot housing Going up and be positioned at the lower section of laser displacement sensor, described Timing Belt is separately positioned on the left and right sides limit of robot housing and divides Not being connected with permagnetic synchronous motor X and permagnetic synchronous motor Y, described three axis accelerometer is arranged on robot housing and position Between permagnetic synchronous motor X and permagnetic synchronous motor Y, described direct current generator A, direct current generator B and wireless device are respectively provided with On robot housing.

In a preferred embodiment of the present invention, described laser displacement sensor include front laser displacement sensor, Left laser displacement sensor and right laser displacement sensor, described front laser displacement sensor is just being arranged on robot housing The centre position in front, described left laser displacement sensor and right laser displacement sensor are angularly disposed at robot shell respectively The two ends, left and right in body dead ahead.

In a preferred embodiment of the present invention, described Timing Belt uses two axle six wheel drive mode, is by one Perimeter surface is provided with the closed ring crawler belt of equidistant tooth and corresponding belt wheel is formed.

In a preferred embodiment of the present invention, described natural gas line robot control system is additionally provided with host computer Program, main motion control program, from motion control program, based on Hall effect pipe damage detect and be wirelessly transferred, described Host computer procedure also include pipeline read, position positioning and power information, described main motion control program also include based on ARM two axle permagnetic synchronous motor SERVO CONTROL, data storage and I/O control, described also include from motion control program based on DSP two axle direct current generator SERVO CONTROL and based on DSP IMAQ, described passes based on Hall effect pipe damage detection wireless Defeated and be connected with based on Hall effect pipeline inspection collecting unit and wireless device communication respectively.

In a preferred embodiment of the present invention, described natural gas line robot control system also includes photoelectric coding Device, described photoelectric encoder is separately mounted to permagnetic synchronous motor X, permagnetic synchronous motor Y, direct current generator A and direct current generator B On.

The invention has the beneficial effects as follows: the present invention is wirelessly transferred the control of dinuclear four axle crawler type natural gas tube pipeline robot The all higher permagnetic synchronous motor of system, employing efficiency and power density instead of the motor such as stepper motor, direct current generator；In order to Improve arithmetic speed, it is ensured that the stability of automatic pipeline robot system and reliability, the present invention is in the controller based on ARM Introducing digital signal processor DSP, forming the brand-new dual-core controller based on ARM+DSP, this controller takes into full account that battery exists The effect of this system, two maximum for workload in control system central siphon pipeline robot navigation servo-drive systems, battery cell monitoring, road Footpath is read and is given ARM process, gives full play to the comparatively faster feature of ARM data processing speed, and image data acquiring, storage and The functions such as CCD DC servo alignment system control are given DSP and are completed, and thus achieve the division of labor of ARM and DSP, simultaneously the two Between also can carry out communication, carry out data exchange in real time and call.

Brief description

For the technical scheme being illustrated more clearly that in the embodiment of the present invention, required in embodiment being described below make Accompanying drawing be briefly described, it should be apparent that, below describe in accompanying drawing be only some embodiments of the present invention, for From the point of view of those of ordinary skill in the art, on the premise of not paying creative work, can also be obtained other according to these accompanying drawings Accompanying drawing, wherein:

Fig. 1 is that the present invention preferably implements with being wirelessly transferred dinuclear four axle crawler type natural gas line robot control system one 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 that pipe robot patrols and examines schematic diagram.

Detailed description of the invention

Technical scheme in the embodiment of the present invention will be clearly and completely described below, it is clear that described enforcement Example is only a part of embodiment of the present invention, rather than whole embodiments.Based on the embodiment in the present invention, this area is common All other embodiment that technical staff is obtained under the premise of not making creative work, broadly falls into the model of present invention protection Enclose.

As it is shown in figure 1, the embodiment of the present invention includes:

One is wirelessly transferred dinuclear four axle crawler type natural gas line robot control system, including battery, controller, permanent magnetism are same Step motor X, permagnetic synchronous motor Y, direct current generator A, direct current generator B, based on ccd image collecting unit, image storage unit, wet Degree collecting unit, based on Hall effect pipeline inspection collecting unit, wireless device and pipe robot, described battery is independent There is provided electric current to drive described controller, described controller uses dual-core controller, including ARM and DSP, described ARM and DSP carries out communication connection by wireless device, and described all leads to DSP based on ccd image collecting unit and image storage unit News connect, and described humidity collection unit and being all connected with ARM communication based on Hall effect pipeline inspection collecting unit is described ARM sends the first control signal and the second control signal respectively, by the first described control signal and the second control signal difference Control the motion of pipe robot, institute again after the signal syntheses of control described permagnetic synchronous motor Y and permagnetic synchronous motor X The DSP stating sends the 3rd control signal and the 4th control signal respectively, by the 3rd described control signal and the 4th control signal It is connected with based on ccd image collecting unit communication after the signal syntheses controlling described direct current generator A, direct current generator B respectively. Wherein, described battery uses lithium ion battery；Described the first control signal, the second control signal are PWM ripple control letter Number.

In above-mentioned, described ARM uses STM32F746；Described DSP uses TMS320F2812.

The brand-new STM32F7 MCU series of products that STMicroelectronics is produced, be the whole world first volume production and Have the microcontroller of 32 bit ARM Cortex-M7 processors.Cortex-M7 is up-to-date release in Cortex-M series of products And the processor core that usefulness is the highest, brand-new STM32F7 MCU be ST STM32 MCU series of products in the highest one of usefulness Product, combines Cortex-M7 core and high-order peripheral unit, can promote application program usefulness, newly-increased New function, extend battery Life-span, guarantee safety and reducing as far as possible use outer member with cost-effective with space etc. unrivaled advantage.

STM32F7 series of products include STM32F745 and STM32F746, and this two products are all equipped with and have floating-point operation The Cortex-M7 core of unit and DSP extended function, the highest 216MHz of arithmetic speed.STM32F7 MCU series of products are by ARM The advantage that Cortex-M7 usefulness surmounts core (such as Cortex-M4) in early days applies to ultimate attainment, and usefulness reaches nearly DSP two Times, make this MCU be highly suitable for the application of high-speed electric expreess locomotive control.

TMS320F2812 is 32 fixed-point digital signal processing of novel high-performance of the C28x kernel compatible based on code Device, the instruction execution cycle of C28x kernel has reached 6.67ns, and maximum running frequency can reach 150MHz, and F2812 is integrated with Many peripheral hardwares, provide the SOC(system on a chip) of the whole series, and its On-Chip peripheral mainly includes 12,2 × 8 tunnel ADC (during the fastest 80ns conversion Between), 2 road SCI, 1 road SPI, 1 road McBSP, 1 road eCAN interface etc., and with two event manager modules (EVA, EVB).Separately Outward, this device also has 3 32 independent bit CPU timers, and up to 56 GPIO pin being independently programmable.F2812 uses Unified addressing mode, chip internal has the SARAM of 18K, including MO, M1, L0, L1, H0 totally 5 memory blocks, each memory block keeps Independent, in the uniform machinery cycle, different RAM block can be conducted interviews, thus reduce streamline time delay.And inside F2812 Have the FLASH of 128K word, address space 3D8000h～3F7FFFh, it is adaptable to low-power consumption, high performance control system.In addition F2812 provides external memory storage expansion interface (XINTF), conveniently carries out system extension, and its addressing space can reach 1MB； These characteristics makes F2812 while possessing the data-handling capacity of digital signal processor brilliance, has again and is suitable to control Piece in peripheral hardware and interface, can be widely applied in the control of various high performance system, These characteristics makes TMS320F2812 special Not Shi He crusing robot figure collection, image storage and positional information storage.

In order to accurate acquisition pipe interior damage information, this controller be ccd image acquisition system add based on DSP two-dimensional localization servo-drive system, this two-dimentional system includes direct current generator A and direct current generator B, when DSP is compared by storing image Behind discovery suspicious region, adjusted the height of ccd image acquisition system lifting by controlled in wireless direct current generator A by main website, then Direct current generator B is adjusted the angle that ccd image acquisition system rotates so that the center of the doubtful object of center alignment of CCD, then Analyzed suspicious region by main website in real time, find and process this region in time, the image that this region of DSP real-time storage collects and Positional information, patrolling and examining pipeline interpretation of result for pipe robot provides basis for estimation.

In order to accurate guide duct robot detects automatically, the present invention uses two set sensor navigation patterns (a set of magnetic navigation sensor navigates, and a set of laser displacement sensor navigates), pipe robot two-dimensional structure such as Fig. 2 of the present invention Shown in: described pipe robot includes robot housing K, laser displacement sensor, magnetic navigation sensor ME1, distance correction Sensor S, three axis accelerometer A1 and Timing Belt T, described laser displacement sensor is separately mounted to robot housing K's Front end, described magnetic navigation sensor ME1 and distance correction sensor S are arranged on robot housing K and are positioned at laser position The lower section of displacement sensor, described Timing Belt T be separately positioned on robot housing K left and right sides limit and respectively with permanent-magnet synchronous Motor X and permagnetic synchronous motor Y connects, and described three axis accelerometer A1 is arranged on robot housing K and is positioned at permanent magnetism together Between step motor X and permagnetic synchronous motor Y, described direct current generator A, direct current generator B and wireless device I is arranged at robot On housing.Wherein, described laser displacement sensor includes front laser displacement sensor LSF, left laser displacement sensor LSL With right laser displacement sensor LSR, described front laser displacement sensor LSF is arranged in robot housing K dead ahead Between position, described left laser displacement sensor LSL and right laser displacement sensor LSR is angularly disposed at robot housing respectively The two ends, left and right in K dead ahead.

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 Not existing or when the deviation distance that navigates is bigger, left laser displacement sensor LSL and right laser displacement sensor LSR jointly acts on and sentencing Disconnected direction of advance and the distance of left and right tube wall, and provide navigation foundation, front laser displacement as pipe robot linear motion The differentiation that sensor LSF is pipe robot advance barrier provides according to and stops does criterion.

In order to improve the stability of pipe robot walking navigation during closed conduit, it is achieved the automatic adjustment of attitude And independent navigation ability, the present invention adds three axis accelerometer A1 in natural gas line robot servo's hardware system. Omnidistance unlatching three axis accelerometer A1 during pipe robot walking pipeline, three axis accelerometer A1 is used for measuring pipeline machine The angular acceleration of three directions of advance of people, controller obtains its angle of inclination according to the angular acceleration recording by continuous integral. When the attitude of pipe robot changes and exceedes setting threshold values, at a new sampling period controller just immediately to its position Put compensation, it is to avoid pipe robot because tilting generation that is excessive and that translate into phenomenon, improves its quick row in the process of walking Walk stability when navigating；If carry out continuous integral to three axis accelerometer A1, and it is transformed in navigational coordinate system, pipe Pipeline robot can not rely on any external information in closed conduit just can obtain its acceleration in navigational coordinate system The information such as degree, speed, yaw angle and position, produced navigation information continuity is good and noise is very low, greatly enhances The autonomous inertial navigation ability of pipe robot.

Timing Belt T transmission is closed ring crawler belt and the corresponding belt wheel institute group being provided with equidistant tooth by an inner peripheral surface Become.It during motion, is meshed with the teeth groove of belt wheel transmission motion and power with tooth, is a kind of engaged transmission, thus there is gear and pass Dynamic, Chain conveyer and the various advantages of Belt Drive.Timing Belt K transmission has gearratio accurately, without slippage, can obtain constant Speed ratio, can precision drive, stable drive, can shock-absorbing, noise is little, and transmission efficiency is high, is not required to lubrication, pollution-free, is particularly suitable for It is not allow for polluting and normally work under the occasion more severe with working environment, the particularly suitable spinning transmission of compact conformation, therefore The present invention uses Timing Belt technology to form two axle six wheel drive mode.

The present invention solves the problem that domestic pipeline robot exists, invented a kind of by two rare earth permanent-magnet synchronization motors Speed drive based on being wirelessly transferred six wheel crawler double-core natural gas tube pipeline robots, four auxiliary wheels by Timing Belt respectively with Left and right drives electromechanics link, and multiple wheel of left and right sides passes through crawler belt mechanical linkages, respectively based on watching of two axle direct current generators Dress system provides positioning function for ccd image acquisition system, and then natural gas tube pipeline robot relies on its carry sensors to carry out Patrol and examine major gas pipeline.

The present invention, on the premise of absorbing external Dynamic matrix control thought, has independently invented the brand-new double-core based on ARM+DSP Control model.Controller principle figure such as Fig. 1 of this design: controller is with ARM as processor core, and DSP realizes IMAQ The Real-time Collection of data signal, store, be wirelessly transferred and the control of CCD two axle DC servo alignment system, and the moment leads to ARM News, free ARM in the middle of complicated work, and ARM realizes the real-time control of two axle three-phase permanent magnet synchronous motors, and responds DSP interrupt, it is achieved data communication and storage live signal.

As it is shown on figure 3, described natural gas line robot control system is additionally provided with host computer procedure, main motion control Program, from motion control program, based on Hall effect pipe damage detect and be wirelessly transferred, described host computer procedure also wraps Including pipeline reading, position positioning and power information, described main motion control program also includes based on ARM two axle permanent magnet synchronous electric Machine SERVO CONTROL, data storage and I/O control, watch based on DSP two axle direct current generator described also including from motion control program Clothes control and based on DSP IMAQ, described based on the transmission of Hall effect pipe damage detection wireless and respectively with based on suddenly That effect pipeline inspection collecting unit and wireless device communication connect.

For reaching above-mentioned purpose, the present invention takes techniques below scheme, in order to improve utilization rate and the minimizing robot of the energy Volume, all higher permagnetic synchronous motor of native system efficiency and power density instead of the motor such as stepper motor, direct current generator； In order to improve arithmetic speed, it is ensured that the stability of automatic pipeline robot system and reliability, the present invention is in the control based on ARM Introducing digital signal processor DSP in device, forming the brand-new dual-core controller based on ARM+DSP, this controller takes into full account electricity Pond is in the effect of this system, two maximum for workload in control system central siphon pipeline robot navigation servo-drive systems, battery prison Control, path are read and are given ARM process, give full play to the comparatively faster feature of ARM data processing speed, and image data acquiring, The functions such as storage and CCD DC servo alignment system control are given DSP and are completed, and thus achieve the division of labor of ARM and DSP, with When also can carry out therebetween communication, carry out data exchange in real time and call.

As shown in Figure 4, for the ARM+DSP dual-core controller designing herein, under power-on state, ARM is first to machine Device people's battery SOC (state-of-charge) judges, if battery power is relatively low, controller can send alarm signal；If battery The energy is higher, is first inputed to ARM by wireless device patrolling and examining the information such as natural gas line length and radius, then pipe robot Being placed to pipe detection mouth, robot is introduced into self-locking state, waits inlet valve F1 to open, when front laser displacement sensor After LSF determines that valve is opened, pipe robot enters buffer area to be checked, and then inlet valve F1 closes, and inlet valve F2 beats Opening, pipe robot enters pipe detection region；Image capturing system, humidity collection system and the pipeline that pipe robot carries Fault localization device, control device of wireless are all opened, pipe robot according to setting speed along patrolling and examining route fast inspection, ARM adjusts pipe robot permagnetic synchronous motor X according to navigation sensor parameter or wireless signal transmission secondary and permanent magnetism is same The PWM output control signal of step motor Y, it is achieved the real-time servo control of two permanent magnet synchronous motors, DSP is watched by two axle direct currents Taking alignment system makes CCD effectively gather duct size information in real time and store, if DSP has a question to patrolling and examining some position, and will be logical Cross wireless to main website send image transmitting interrupt requests and with ARM communication, being sent cutoff command by controlled in wireless ARM makes pipe machine Device people is stopped, and main website realizes CCD secondary image collection and fault localization by wireless device, and by DSP real time record and storage.

With reference to Fig. 1, Fig. 2, Fig. 3 and Fig. 4, its concrete functional realiey is as follows:

1) after pipe robot power supply opening, battery SOC can be judged by ARM, if battery SOC is relatively low, ARM will forbid Two permanent magnet synchronous motors works, and permagnetic synchronous motor input PWM ripple is blocked, and alarm sensor by work and sends report simultaneously Alert signal, ARM sends replacing power interruptions request by wireless device to master station；If battery SOC is normal, pipe robot enters Enter and treat duty, wait work order；

2) master station is called the roll of the contestants in athletic events right for weather duct length, radius and pipeline information of the ground map, last time information by wireless device Being transferred to ARM, then wireless device guiding tube pipeline robot is to the starting end of pipe detection, for precision navigation pipe robot Walking in closed conduct, ARM first turns on the inertial navigation pattern based on three axis accelerometer for the pipe robot；

3) ARM of pipe robot begins through magnetic navigation sensor ME1 and reads area navigation magnetic stripe, magnetic navigation sensor ME1 Value of feedback compared with actual set central value, ARM according to inclined extent by its internal three Close loop servo control programs Automatically adjust the PWM output of permagnetic synchronous motor X and permagnetic synchronous motor Y, make pipe robot along navigation magnetic stripe at a slow speed before Entering, laser displacement sensor LSF in front is by work simultaneously, ARM detect in real time pipe robot and front inlet valve F1 away from From D, then automatic stopping in the range of stably stop, original place self-locking；

4) when front laser displacement sensor LSF detects that inlet valve F1 opens, pipe robot will open automatic cruising Pattern；The distance that real time record pipe robot is moved by controller ARM along magnetic stripe, when determining robot completely into be checked Behind region, inlet valve F1 will be again switched off, after natural gas leakage device detects that inlet valve F1 completely closes, and inlet valve F2 will open, and now secondary is judged the state of front inlet valve F2 by front laser displacement sensor LSF, determines front entrance Valve F2 open errorless after, pipe robot initially enters patrols and examines region and starts the internal actual conditions of detection natural gas line；

5) after pipe robot enters pipe detection region, wireless device will open ccd image acquisition system by DSP, and DSP is same Shi Qidong two axle DC servo alignment system；ARM, according to the feedback of magnetic navigation sensor ME1, reads pipe robot reality Positional information and the numerical value of three axis accelerometer A1, and compared with setting position, determine pipe robot deviation centre distance With the angle tilting, ARM is in conjunction with the feedback of current of electric feedback, photoelectric encoder feedback and three axis accelerometer, according to it Internal three Close loop servo control programs obtain the PWM wave control signal of two permanent magnet synchronous motors, and real-time by drive circuit Adjust pipe robot attitude, make pipe robot stable operation attached at magnetic stripe center, if master station is by the collection figure of feedback As discovery pipe robot deviate from navigation track by a relatively large margin, by by control device of wireless preferential Calibration pipe robot Attitude；The air line distance that ARM real time record robot has run, the distance correction sensor S moment detects ground and revises mark, Once reading correcting device, the positional distance information of ARM record to be as the criterion with the positional information revising mark, to eliminate robot The site error being caused when walking；If pipe robot has been misread ground in the process of walking and has been revised mark, main website By radio transmitting device and ARM communication, and will automatically change the positional information of robot；

6) if pipe robot in normal motion by external interference or run into magnetic stripe and rupture, magnetic navigation senses Device ME1 cannot read ground magnetic strip information, and now ARM will be passed by control device of wireless and master station's communication, left laser displacement Sensor LSL and right laser displacement sensor LSR open work, the two by the distance input that records to ARM, ARM and setting value phase Relatively obtaining off-centered position, ARM is in conjunction with current of electric feedback, photoelectric encoder feedback and three axis accelerometer A1 Feedback, obtains the PWM wave control signal of two permanent magnet synchronous motors according to its internal three Close loop servo control programs, and by driving Dynamic circuit adjusts pipe robot attitude in real time, makes pipe robot stable operation in magnetic stripe immediate vicinity, ARM real time record The air line distance that robot has run, the distance correction sensor S moment detect ground revise mark, once read correction dress Putting, ARM record position range information to be as the criterion with the positional information revising mark, if pipe robot misses in the process of walking Having read ground and having revised mark, the position letter of pipe robot by radio transmitting device and ARM communication, and will be changed automatically by main website Breath, eliminates site error during pipe robot walking；

7) in pipe robot motion process, the CCD moment in IMAQ opens, the figure that DSP real-time storage CCD gathers Picture, DSP compares the standard pipe information of the image gathering and setting, if there is bigger error in the two comparison result, In order to prevent maloperation, DSP sends interrupt requests by wireless device to main website immediately, and with ARM communication, ARM makes an immediate response DSP interrupt, and allow pipe robot stop；DSP adjusts direct current generator A and straight by internal three closed-loop direct SERVO CONTROL programs The output positioning CCD position of stream motor B, makes ccd image gather the doubtful picture centre of center alignment, and CCD secondary acquisition pipeline is believed Ceasing and passing through radio transmitting device real-time Transmission, main website analyzes this suspicious region in real time, and DSP stores this image, doubtful place for bis-times Reason finishes rear controlled in wireless and reopens pipe robot so that it is continue to move ahead along pipeline navigation marker；

8) in pipe robot motion process, the humidity sensor moment in humidity collection system opens, and ARM real-time storage is wet The humidity information that degree sensor collects, and compare with the standard pipe humidity information setting, if the two comparison result Bigger error occur, ARM sends interrupt requests by wireless device to main website immediately, and with DSP communication, DSP makes an immediate response ARM Interrupting, the output adjusting direct current generator A and direct current generator B by internal three closed-loop direct SERVO CONTROL programs makes it position CCD Position, makes ccd image gather the doubtful water images center of alignment, center, CCD secondary acquisition duct size information by being wirelessly transferred dress Putting real-time Transmission, main website analyzes this suspicious region in real time, confirm errorless after, DSP stores this image and positional information bis-times.Then ARM is restarted by wireless device in main website, and control pipe robot continues to move ahead, and after by suspicious region, ARM is by internal three The PWM ripple of Close loop servo control program active accommodation two permanent magnet synchronous motors X and motor Y, recovers the speed of pipe robot It is made normally to patrol and examine pipeline；

9) in pipe robot motion process, the front laser displacement sensor LSF moment opens, and ARM processes front orientation in real time Confidence ceases, and when having anomalies in conduit running front, front laser displacement sensor LSF probe value will appear from exception, and ARM is first First pass through the PWM wave control signal of internal three Close loop servo control program active accommodation two permanent magnet synchronous motors X and motor Y, The speed reducing pipe robot makes it drive towards at a slow speed doubtful pipeline obstruction region, and ARM is immediately in master station and DSP send simultaneously Disconnected request, the DSP ARM that makes an immediate response interrupts, and by internal three closed-loop direct SERVO CONTROL programs adjustment direct current generator A and direct current The output of motor B makes it position CCD position, makes ccd image gather the doubtful obturator picture centre of center alignment, and CCD adopts for bis-times Collection duct size information simultaneously passes through radio transmitting device real-time Transmission, and main website analyzes this suspicious region in real time.When determination front is small-sized During obturator, owing to this pipe robot designing is many wheel crawlers structure, so ARM control pipe robot can be got over Cross barrier and can continue to move ahead；When obturator volume is bigger, total standing-meeting adjusts two axle permanent magnet synchronous electrics by wireless device The output of machine makes it get around barrier；After by suspicious region, master station passes through two permanent magnetism of radio transmitting device active accommodation The PWM wave control signal of synchronous motor X and motor Y, the speed recovering pipe robot makes it normally patrol and examine pipeline；

10) in pipe robot motion process, based on the pipeline inspection sensor of Hall effect by work, when before conduit running Side's probe value occurs abnormal, ARM first pass through internal three Close loop servo control program active accommodation two permanent magnet synchronous motors X and The PWM wave control signal of motor Y, the speed reducing pipe robot makes it drive towards at a slow speed pipe damage suspicious region, simultaneously ARM Send interrupt requests to master station and DSP immediately, DSP make an immediate response ARM interrupt, and pass through internal three closed-loop direct servo control processing procedures Sequence adjusts the output positioning CCD position of direct current generator A and direct current generator B, makes ccd image gather center alignment suspicious lesion pipeline Position, CCD secondary acquisition duct size information is simultaneously by radio transmitting device real-time Transmission, and main website analyzes this suspicious region in real time, as Really DSP IMAQ image does not finds pipe damage, and DSP will record suspicious lesion actual position information, and be labeled as outside exergy dissipation Wound, after by suspicious region, the PWM by radio transmitting device active accommodation two permanent magnet synchronous motors X and motor Y for the master station Ripple, the speed recovering pipe robot makes it normally patrol and examine pipeline；

11) in pipe robot motion process, ARM can store in the moment the pipeline location of process or process Reference point, and according to these range informations, ARM is calculated relatively next reference point pipe robot permagnetic synchronous motor X The distance to be run respectively with permagnetic synchronous motor Y, speed and acceleration, ARM in conjunction with current of electric feed back, photoelectric encoder Feedback and the feedback of ground magnetic stripe, obtain the PWM ripple of two permanent magnet synchronous motors according to its internal three Close loop servo control programs Control signal, makes pipe robot quickly move ahead according to setting speed；

12) if pipe robot detective distance solves and occurs that endless loop will send interrupt requests to ARM in motion process, Then ARM can send interrupt requests to master station to interrupting doing very first time response original place self-locking；Master station passes through wireless device weight New reset ARM, transmits the information such as new position, and ARM feeds back and left laser displacement sensor LSL according to pipeline magnetic bar navigation mark With the feedback of right laser displacement sensor LSR, adjusting the speed of permanent-magnet synchronous X-motor and motor Y in real time, pipe robot is from newly Position start to patrol and examine；

13) photoelectric encoder being contained on permagnetic synchronous motor X, permagnetic synchronous motor Y, direct current generator A and direct current generator B can be defeated Going out its position signalling A and position signalling B, position signalling A pulse and the B pulsed logic state of photoelectric encoder often change once, ARM(or DSP) in location register can be according to motor X and motor Y(direct current generator A and direct current generator B) traffic direction add 1 Or subtract 1；When the position signalling A pulse of photoelectric encoder and B pulse and Z pulse are simultaneously for low level, just produce one INDEX signal is to ARM(or DSP) internal register, the absolute position of record permagnetic synchronous motor, it is then convert into pipeline machine Particular location in pipe detection system for the people；

14) pipe robot calculates battery SOC at running ARM in real time according to its internal algorithm, if controller discovery electricity When source energy is relatively low, ARM with DSP communication, and can close ccd image collecting work and image storage work by DSP, and passes through Its internal three closed loop servo-control system programs adjust the PWM output of permagnetic synchronous motor X and permagnetic synchronous motor Y, pipe machine Device people drives towards exit with slower speed under controlled in wireless, it is ensured that pipe robot can arrive exit smoothly；

15) during pipe robot is patrolled and examined, if servo controller detects that pulsation occurs in the torque of permagnetic synchronous motor, The permagnetic synchronous motor control using due to the present invention is based on vector controlled, and therefore controller can be easy to compensate this interference, Decrease the impact on crusing robot motion process for the motor torque；

16) during pipe robot drives towards outlet valve, the front laser displacement sensor LSF that it carries can moment inspection Surveying the displacement between itself and valve, when determination outlet valve F3 is in open mode, pipe robot will open cruise mode, control The distance that device ARM real time record pipe robot has moved along magnetic stripe, when determination robot is completely into outlet district to be checked Behind territory, outlet valve F3 will close, and natural gas aspirator will aspirate the natural gas situation in region to be checked, when natural gas leakage dress Putting and being not detected by region to be checked when having natural gas to remain, outlet valve F4 will open, and now front laser displacement sensor LSF will Secondary judges the state of front exit valve F4, determine front exit valve F4 open errorless after, pipe robot rolls detection away from Pipeline, returns to detect terminal, waits next sense command.

The invention have the advantages that:

1: in pipe robot motion process, take into full account battery effect in this system, based on ARM+DSP double-core Its state is all being monitored and computing by the controller moment, has both avoided the lithium ion battery causing due to heavy-current discharge The generation of overaging phenomenon, can effectively predict again the energy of battery, patrols and examines to provide for pipe robot and is effectively ensured；

2: by ARM process two permagnetic synchronous motors of pipe robot based on the SERVO CONTROL of vector controlled, DSP is realized CCD The control of two axle DC servo alignment systems, the two had both achieved the division of labor, had been reduced the workload of ARM so that control ratio Relatively simple, substantially increase arithmetic speed, solve scm software and run slower bottleneck, shorten the construction cycle short, and And program transportability ability is strong；

3: the present invention realizes full SMD components material substantially, it is achieved that veneer controls, and not only saves control panel and takes up room, And the mitigation of beneficially pipe robot volume and weight；

4: inventive pipeline Algorithms of Robots Navigation System uses permagnetic synchronous motor to instead of step conventional in conventional machines people's system Entering motor, direct current generator, DC brushless motor, due to its small volume, efficiency is higher so that pipe robot volume can enter One step reduces, and energy utilization rate is greatly improved；

5: owing to using the permagnetic synchronous motor based on vector controlled so that speed adjustable range is relatively wide, contrast of regulating speed is steady, even if Also very little in the pulsating torque of low-speed stage motor, the dynamic property of beneficially raising system；

6: owing to this controller uses DSP to process figure collection, storage, the mass data of two axle DC servo alignment systems and calculation Method, frees ARM from hard work amount, effectively prevent " race flies " of program, and antijamming capability is greatly enhanced；

7: in the controlling, ARM can adjust two axle permagnetic synchronous motor SERVO CONTROL according to robot periphery ruuning situation in good time Pid parameter, it is achieved segmentation P, PD, PID control and nonlinear PID controller, make dynamic performance be greatly improved；

8: equipped with humidity collection system on pipe robot, the humidity abnormal area in tunnel can be detected easily, can Effectively finding the existence of pipeline water droplet, wireless transmitting system can effectively improve the detection efficiency of system humidity；

9: equipped with image capturing system on pipe robot, the abnormal feelings such as pipe interior corrosive pipeline can be detected easily Condition, and effectively store its image, wireless transmitting system can improve the efficiency of image capturing system；

10: master station staff can be made accurately to judge suspicious region based on wireless image transmission, wireless remote control technology can simultaneously Solve, with good, the emergency situations that pipe robot occurs, such as solve deadlock, restart pipe robot etc.；

11: make pipe robot facilitate staff to read after completing task to patrol and examine result based on the image storage function of DSP, Pipeline corrupted information and particular location, then on-call maintenance can be read from storage result easily；

12: equipped with the fault localization acquisition system based on Hall effect on pipe robot, pipeline can be detected easily The abnormal conditions such as external pipe corrosion and damage, be conducive to pinpointing the problems early pipeline；

13: the addition of three axis accelerometer A1 can effectively detect the angle of inclination of pipe robot deviation pipeline plane, during ARM meeting Carve and be adjusted and pass through wireless device transmissions to this angle to master station, effectively control the attitude of pipe robot；

14: the addition of magnetic navigation sensor and laser displacement sensor makes system navigation have certain redundancy, greatly carries The high stability of pipe robot；

15: the addition of Timing Belt technology makes six wheels all have power, and the addition of crawler belt simultaneously effectively increases pipeline machine The area that people contacts in the duct, makes pipe robot can improve environment fit effectively by having obstruction object area Ying Xing；

16: IMAQ can be made more reliable based on the two axle ccd images collection alignment systems of direct current generator A and direct current generator B, Carry out pipe damage for main website and obstruction information is analyzed in real time and provided reliable basis.

To sum up telling, the present invention is wirelessly transferred dinuclear four axle crawler type natural gas line robot control system, uses The all higher permagnetic synchronous motor of efficiency and power density instead of the motor such as stepper motor, direct current generator, improves the energy Utilization rate and reduce robot volume, in order to improve arithmetic speed, it is ensured that the stability of automatic pipeline robot system and reliable Property, the present invention introduces DSP in based on ARM, forms the brand-new dual-core controller based on ARM+DSP, this Controller takes into full account the effect in this system for the battery, and the two axle permagnetic synchronous motors that workload in control system is maximum are watched Dress system, pipeline read, power information gives ARM process, give full play to the comparatively faster feature of ARM data processing speed, and The function such as image data acquiring and storage is given DSP and is completed, and thus achieves the division of labor of ARM and DSP, also therebetween simultaneously Communication can be carried out, carry out data exchange in real time and call.

The foregoing is only embodiments of the invention, not thereby limit the scope of the claims of the present invention, every utilize this Equivalent structure or equivalence flow process that bright description is made convert, or are directly or indirectly used in other related technology necks Territory, all in like manner includes in the scope of patent protection of the present invention.

Claims (9)

1. one kind is wirelessly transferred dinuclear four axle crawler type natural gas line robot control system, it is characterised in that include battery, Controller, permagnetic synchronous motor X, permagnetic synchronous motor Y, direct current generator A, direct current generator B, based on ccd image collecting unit, figure As memory cell, humidity collection unit, based on Hall effect pipeline inspection collecting unit, wireless device and pipe robot, Described battery is provided separately electric current and drives described controller, and described controller uses dual-core controller, including ARM and DSP, described ARM and DSP carry out communication connection by wireless device, and described deposits based on ccd image collecting unit and image Storage unit is all connected with DSP communication, described humidity collection unit and the equal and ARM based on Hall effect pipeline inspection collecting unit Communication connects, and described ARM sends the first control signal and the second control signal respectively, by the first described control signal and the Control pipeline again after the signal syntheses that two control signals control described permagnetic synchronous motor Y and permagnetic synchronous motor X respectively The motion of robot, described DSP sends the 3rd control signal and the 4th control signal respectively, by the 3rd described control signal Adopt with based on ccd image with after the signal syntheses that the 4th control signal controls described direct current generator A, direct current generator B respectively Collection unit communications connects.

2. natural gas line robot control system according to claim 1, it is characterised in that described battery uses lithium Ion battery.

3. natural gas line robot control system according to claim 1, it is characterised in that the first described control letter Number, the second control signal be PWM wave control signal.

4. natural gas line robot control system according to claim 1, it is characterised in that described ARM uses STM32F746；Described DSP uses TMS320F2812.

5. natural gas line robot control system according to claim 1, it is characterised in that described pipe robot Including robot housing, laser displacement sensor, magnetic navigation sensor, distance correction sensor, three axis accelerometer and with Step band, described laser displacement sensor is separately mounted to the front end of robot housing, described magnetic navigation sensor and distance Revising sensor and being arranged on robot housing and be positioned at the lower section of laser displacement sensor, described Timing Belt is respectively provided with On the left and right sides limit of robot housing and being connected with permagnetic synchronous motor X and permagnetic synchronous motor Y respectively, three described axles add Speedometer is arranged on robot housing and is positioned between permagnetic synchronous motor X and permagnetic synchronous motor Y, described direct current generator A, direct current generator B and wireless device are arranged on robot housing.

6. natural gas line robot control system according to claim 5, it is characterised in that described laser displacement passes Sensor includes front laser displacement sensor, left laser displacement sensor and right laser displacement sensor, described front laser Displacement transducer is arranged on the centre position in robot housing dead ahead, described left laser displacement sensor and right laser displacement The sensor angularly disposed two ends, left and right in robot housing dead ahead respectively.

7. natural gas line robot control system according to claim 5, it is characterised in that described Timing Belt uses Two axle six wheel drive mode, are closed ring crawler belt and the corresponding belt wheel institute groups being provided with equidistant tooth by an inner peripheral surface Become.

8. natural gas line robot control system according to claim 1, it is characterised in that described natural gas line Robot control system be additionally provided with host computer procedure, main motion control program, from motion control program, based on Hall effect pipe Road fault localization and being wirelessly transferred, described host computer procedure also include pipeline read, position positioning and power information, described Main motion control program also include based on ARM two axle permagnetic synchronous motor SERVO CONTROL, data store and I/O control, described Also include based on DSP two axle direct current generator SERVO CONTROL with based on DSP IMAQ from motion control program, described based on Hall effect pipe damage detection wireless transmits and leads to based on Hall effect pipeline inspection collecting unit and wireless device respectively News connect.

9. natural gas line robot control system according to claim 1, it is characterised in that described natural gas line Robot control system also includes photoelectric encoder, and described photoelectric encoder is separately mounted to permagnetic synchronous motor X, permanent magnetism together On step motor Y, direct current generator A and direct current generator B.