CN106078735A

CN106078735A - A kind of three core six axle caterpillar type high-speed natural gas line robot control systems

Info

Publication number: CN106078735A
Application number: CN201610406256.1A
Authority: CN
Inventors: 张好明; 鲍庭瑞
Original assignee: Jiangsu Ruobo Robot Technology Co Ltd
Current assignee: Jiangsu Ruobo Robot Technology Co Ltd
Priority date: 2016-06-12
Filing date: 2016-06-12
Publication date: 2016-11-09

Abstract

The invention discloses three core six axle caterpillar type high-speed natural gas line robot control systems, described controller uses three nuclear control devices, the ARM connected including communication, FPGA and DSP, the first control signal sent by described ARM and FPGA, second control signal, 3rd control signal, 4th control signal, 5th control signal and the 6th control signal control described permagnetic synchronous motor X respectively, permagnetic synchronous motor Y, permagnetic synchronous motor Z, permagnetic synchronous motor R, the motion of pipe robot is controlled again after the signal syntheses of permagnetic synchronous motor U and permagnetic synchronous motor W.By the way, the brand-new three nuclear control patterns of based on ARM+FPGA+DSP of independent research of the present invention, free ARM, it is achieved the real time position collection of six axle three-phase permanent magnet synchronous motors in the middle of complicated work, and respond DSP interrupt, it is achieved data communication and storage live signal.

Description

A kind of three core six axle caterpillar type high-speed natural gas line robot control systems

Technical field

The present invention relates to the field of large-scale pipeline robot, particularly relate to a kind of three core six axle caterpillar type high-speed natural gas tubes Pipeline robot control system.

Background technology

The pumped (conveying) medium of natural gas line belongs to material inflammable, explosive, the hydrogen sulfide contained in medium, carbon dioxide, trip From the impurity such as water, dust, make the pipeline laid be in inside and outside etching condition, the most internal can produce congestion situations and send out Raw.Add the factors such as environment, geology, meteorology and hydrological disaster, tubing and design defect, operational error or even artificial destruction, The safety of pipeline is threatened by many factors.

On June 4th, 1989, a gas pipeline of the former Soviet Union leaks, and two row are to running a train at distance leakage point 1 When passing through in the railway line outside Gong Li, train friction produces spark and causes the natural-gas blast of 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 fights the most greatly at least causes 10 people dead, and the place beyond more than 30 kilometers can be seen huge Type fireball rushes to sky, and after blast, ground leaves long 25m, the hollow place of deep 6m together；The oil and gas pipeline of China is the most Secondary having an accident, the accident such as pipeline generation explosion, leakage, stopping transportation not only causes huge property loss, and jeopardizes ecology 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 operator 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 working performance, reduces operating cost, guarantees personal safety and suffer from highly important meaning Justice.But domestic the most 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.

One practical natural gas tube pipeline robot must possess following components:

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

2) damage acquisition system: damage acquisition system can find the abnormal conditions that tubing 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 detect: 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 the robot relevant walking motion in natural gas line；

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 arrive in pipeline Outer the most 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 the 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.

The domestic research to pipe robot is the most 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, and stability is relatively Difference；

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

(3) for using the pipe robot of motor or 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 motor or DC motor Driver, by the shadow of power of motor density Ringing, owing to the motor volume used is the biggest, 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) either based on vector controlled or servo control based on orientation on rotor flux algorithm permagnetic synchronous motor System, in addition to carrying out coordinate transform repeatedly and inverse transformation, is also performed to the closed loop control of electric current and speed, thus realizes ratio More complicated and requirement of real-time is higher；Use DSP technology or ARM technology and realize with software mode, system development week Phase is long, and the processor time that this algorithm takies is the most, have impact on the process function of DSP or ARM；Use specially Although processor can be reduced with motion control chip to process the time, but its internal PID regulation can only meet single wanting Ask, it is impossible to meet pipe robot application in complex environment；

(6) pipe robot kinestate oneself adjustment capability is poor, and controlled mode affects, robot attitude in pipeline Parameter identification is poor, and robot None-identified oneself's plane and the angle of pipeline principal plane, robot cannot be in real time according to periphery Environment adjusts the pid parameter of oneself, causes inclination occur during robot ambulation, overturns the most sometimes, cause mission failure；

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

(8) for using the power-actuated pipe robot of four-wheel, the power adjustment capability relatively two-wheeled power of robot drives Move and increase, the acceleration under the simple operating mode of pipe robot can be met, but run into the pipeline with certain slope, demand Power is relatively big, this under the conditions of cause demand power to be not being met so that dynamic performance reduces；

(9) value measured during the work of single three-axis gyroscope can be drifted about in time, through work three-axis gyroscope meeting for a long time Accumulate extra error, eventually result in pipe robot and lose position in the duct.

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 synchrodrive 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, On a 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 In the robot control system that a little requirements are more special.

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；Resistance to rolling Little, pass through better performances；Off-road mobility is good；Having grouser on crawler belt bearing-surface, be difficult to skid, traction adhesion property is good, favorably In playing bigger pull strength；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 regulate, to adapt to different operation calibers.

Summary of the invention

The technical problem that present invention mainly solves is to provide a kind of three core six axle caterpillar type high-speed natural gas tube pipeline robots Control system, the brand-new three nuclear control patterns of based on ARM+ FPGA+DSP of independent research, controller is with ARM as processor core The heart, FPGA realizes the SERVO CONTROL of six axle permagnetic synchronous motors, DSP realize image acquisition digital signal process in real time and with ARM communication, frees ARM, it is achieved the real time position collection of six axle three-phase permanent magnet synchronous motors in the middle of complicated work, And respond DSP interrupt, it is achieved data communication and storage live signal.

For solving above-mentioned technical problem, the technical scheme that the present invention uses is: provide a kind of three core six axle crawler belts Formula high speed natural gas line robot control system, including battery, controller, permagnetic synchronous motor X, permagnetic synchronous motor Y, forever Magnetic-synchro motor Z, permagnetic synchronous motor R, permagnetic synchronous motor U, permagnetic synchronous motor W, based on ccd image collecting unit, figure As memory element, humidity collection unit, based on Hall effect pipeline inspection collecting unit and pipe robot, described battery Controller electric current driving described in is provided separately, and described controller uses three nuclear control devices, including ARM, FPGA and DSP, institute ARM, FPGA and the DSP stated carries out communication connection, and described ARM and FPGA sends the first control signal, the second control letter respectively Number, the 3rd control signal, the 4th control signal, the 5th control signal and the 6th control signal, by the first described control signal, Second control signal, the 3rd control signal, the 4th control signal, the 5th control signal and the 6th control signal control described respectively Permagnetic synchronous motor X, permagnetic synchronous motor Y, permagnetic synchronous motor Z, permagnetic synchronous motor R, permagnetic synchronous motor U and permanent magnetism The motion of pipe robot is controlled again after the signal syntheses of synchronous motor W, described based on ccd image collecting unit and image Memory element is all connected with DSP communication, described humidity collection unit and based on Hall effect pipeline inspection collecting unit all with ARM and FPGA communication connects.

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, the 3rd control letter Number, the 4th control signal, the 5th control signal and the 6th control signal be PWM wave control 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, front laser displacement Sensor, magnetic navigation sensor, left fork sensor, right fork sensor, three-axis gyroscope, three axis accelerometer and synchronization Band, described front laser displacement sensor is separately mounted to the front end of robot housing, described left fork sensor and the right side Fork sensor lays respectively at the two ends, left and right below the laser displacement sensor of front, and described Timing Belt is separately positioned on machine The limit, the left and right sides of people's housing and respectively with permagnetic synchronous motor X, permagnetic synchronous motor Y, permagnetic synchronous motor Z, permanent-magnet synchronous Motor R, permagnetic synchronous motor U and permagnetic synchronous motor W connect, and described magnetic navigation sensor, three-axis gyroscope and three axles add Velometer is separately positioned on robot housing and between permagnetic synchronous motor X and permagnetic synchronous motor Y.

In a preferred embodiment of the present invention, described front laser displacement sensor includes front laser displacement sensing Device, left front laser displacement sensor and right front laser displacement sensor, described front laser displacement sensor is arranged on The centre position of robot housing dead ahead, described left front laser displacement sensor and right front laser displacement sensor divide The most angularly disposed two ends, left and right at robot housing dead ahead.

In a preferred embodiment of the present invention, described Timing Belt uses six axle eight 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, based on ARM motion control program, based on DSP image acquisition and based on Hall effect pipe damage detect, described is upper Position machine program also include pipeline read, location positioning and power information, described based on ARM motion control program also include based on The storage of FPGA six axle permagnetic synchronous motor SERVO CONTROL, data and I/O control, described based on DSP image acquisition with based on suddenly The detection of your effect pipe damage respectively with based on ccd image collecting unit with based on Hall effect pipeline inspection collecting unit communication Connect.

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, permagnetic synchronous motor Z, permanent magnetism together On step motor R, permagnetic synchronous motor U and permagnetic synchronous motor W.

The invention has the beneficial effects as follows: the three core six axle caterpillar type high-speed natural gas tube pipeline robots of the present invention control system System, in order to the permanent magnetism improving the utilization rate of the energy the highest with reducing robot volume, native system efficiency and power density is same Step motor instead of the motor such as motor, direct current generator；In order to improve system acceleration request, system is that these extraordinary operating modes add Enter two lower-powered permagnetic synchronous motors and played acceleration power-assisted effect, increase system dynamic characteristic；In order to improve system General hill climbing demands, system is that these extraordinary operating modes add two lower-powered permagnetic synchronous motors and play climbing power-assisted and make With, increase system dynamic characteristic；In order to improve arithmetic speed, it is ensured that the stability of automatic pipeline robot system and reliability, The present invention introduces FPGA and digital signal processor DSP in controller based on ARM, is formed based on ARM+ FPGA+DSP Brand-new three nuclear control devices, this controller takes into full account the battery effect in this system, workload maximum in control system Six axle Permanent magnet synchronous servo system give that FPGA completes, battery cell monitoring, path reading, deviation processing etc. give ARM process, fully Play the comparatively faster feature of ARM data processing speed, and the function such as image data acquiring and storage is given DSP and completed, so It is achieved that the division of labor of ARM, FPGA and DSP, communication can also be carried out simultaneously between three, carry out data exchange and tune in real time With.

Accompanying drawing explanation

For the technical scheme being illustrated more clearly that in the embodiment of the present invention, in embodiment being described below required for 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, it is also possible to obtain other according to these accompanying drawings Accompanying drawing, wherein:

Fig. 1 is that the present invention is with three core six axle caterpillar type high-speed natural gas line robot control system one preferred embodiments Schematic diagram；

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 embodiments that technical staff is obtained under not making creative work premise, broadly fall into the model of present invention protection Enclose.

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

A kind of three core six axle caterpillar type high-speed natural gas line robot control systems, including battery, controller, permanent magnet synchronous electric Machine X, permagnetic synchronous motor Y, permagnetic synchronous motor Z, permagnetic synchronous motor R, permagnetic synchronous motor U, permagnetic synchronous motor W, base In ccd image collecting unit, image storage unit, humidity collection unit, based on Hall effect pipeline inspection collecting unit and Pipe robot, described battery is provided separately the controller described in electric current driving, and described controller uses three nuclear control devices, Including ARM, FPGA and DSP, described ARM, FPGA and DSP carries out communication connection, and described ARM and FPGA sends first respectively Control signal, the second control signal, the 3rd control signal, the 4th control signal, the 5th control signal and the 6th control signal, by Described the first control signal, the second control signal, the 3rd control signal, the 4th control signal, the 5th control signal and the 6th Control signal controls described permagnetic synchronous motor X, permagnetic synchronous motor Y, permagnetic synchronous motor Z, permagnetic synchronous motor respectively Control the motion of pipe robot after the signal syntheses of R, permagnetic synchronous motor U and permagnetic synchronous motor W again, described based on Ccd image collecting unit and image storage unit are all connected with DSP communication, described humidity collection unit and based on Hall effect Pipeline inspection collecting unit is all connected with ARM and FPGA communication.Wherein, described the first control signal, the second control signal, Three control signals, the 4th control signal, the 5th control signal and the 6th control signal are PWM wave control signal.

In above-mentioned, described ARM uses STM32F746；Described FPGA uses QUICKLOGIC；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 these 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 Cortex-M7 usefulness surmounts the advantage of core (such as Cortex-M4) in early days and applies to ultimate attainment, and usefulness reaches nearly DSP two Times.

FPGA have employed logical cell array LCA(Logic Cell Array) such a new ideas, inside includes can Configuration logic module CLB(Configurable Logic Block), output input module IOB(Input Output Block) With three parts of interconnector (Interconnect).The basic characteristics of FPGA mainly have: use FPGA design ASIC circuit, use Family need not throw sheet and produces, and just can obtain the chip share；FPGA can do other full custom or the pilot scale of semi-custom ASIC circuit Print；Abundant trigger and I/O pin is had inside FPGA；FPGA is that in ASIC circuit the design cycle is the shortest, development cost One of device of low, least risk；FPGA uses high speed CHMOS technique, low in energy consumption, can be with CMOS, Transistor-Transistor Logic level compatibility.On The feature of stating makes user can be carried out FPGA inside again by specific placement-and-routing instrument according to the design needs of oneself Combination connects, and designs the special IC of oneself within the shortest time, thus reduces cost, shortens the construction cycle. Owing to FPGA uses the design philosophy of software implementation to realize the design of hardware circuit, system based on FPGA design is thus made to have There are good reusable and amendment property.This brand-new design philosophy is the most gradually applied to drive in high performance exchange and is controlled On, and fast-developing.These characteristics makes FPGA be particularly suitable in servo control, six used especially for the present invention Axle eight is taken turns natural gas line and is patrolled and examined SERVO CONTROL structure, and the servo programe that can greatly reduce STM32F7 controller is write.

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, F2812 and be integrated with Many peripheral hardwares, it is provided that a whole set of SOC(system on a chip), its On-Chip peripheral mainly includes that 12,2 × 8 tunnel ADC is (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 intervalometers, and up to 56 GPIO pin being independently programmable.F2812 uses Unified addressing mode, chip internal has the SARAM of 18K, and 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 There are 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 that digital signal processor is remarkable, has again and is suitable to control Sheet in peripheral hardware and interface, can be widely applied to during various high performance system controls, These characteristics makes TMS320F2812 special It is not suitable for the figure collection of crusing robot, image storage and positional information storage.

In order to accurately guide duct robot detects automatically, the present invention uses two set sensor navigation patterns (a set of Magnetic Sensor navigates, and a set of front 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, front laser displacement sensor, magnetic navigation sensor ME1, Zuo Cha Oral instructions sensor ME2, right fork sensor ME3, three-axis gyroscope G1, three axis accelerometer A1 and Timing Belt T, described front Laser displacement sensor is separately mounted to the front end of robot housing K, described left fork sensor ME2 and right fork sensor ME3 lays respectively at the two ends, left and right below the laser displacement sensor of front, and described Timing Belt T is separately positioned on robot housing The limit, the left and right sides of K and respectively with permagnetic synchronous motor X, permagnetic synchronous motor Y, permagnetic synchronous motor Z, permagnetic synchronous motor R, Permagnetic synchronous motor U and permagnetic synchronous motor W connects, and described magnetic navigation sensor ME1, three-axis gyroscope G1 and three axles accelerate Degree meter A1 is arranged on robot housing K and between permagnetic synchronous motor X and permagnetic synchronous motor Y.Wherein, described Front laser displacement sensor includes that front laser displacement sensor LSF, left front laser displacement sensor LSL and right front are swashed Optical displacement sensor LSR, described front laser displacement sensor LSF are arranged on the centre position of robot housing K dead ahead, Described left front laser displacement sensor LSL and right front laser displacement sensor LSR is the most angularly disposed at robot shell The two ends, left and right of body 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 Do not exist or time the deviation distance that navigates is bigger, left front laser displacement sensor sensor LSL and right front laser displacement sensing Device sensor LSR acts on the distance judging direction of advance with left and right tube wall jointly, and provides as pipe robot linear motion Navigation foundation, differentiation that front laser displacement sensor sensor LSF is pipe robot advance barrier provide according to and Criterion is done in parking.Left fork Magnetic Sensor ME2 and right fork sensor ME3 detects fork, ground mark respectively, makees the most respectively The criterion turned left for cross pipeline or turn right, and natural gas tube pipeline robot accurately can be compensated in this position, It is most important that this patrols and examines pipeline calculating position for pipe robot.

The three axis accelerometer A1 measured value (determining pipe robot course) in the long period is correct, and shorter Due to the existence of signal noise in time, and there is certain error.Three-axis gyroscope G1 is then the most accurate within a short period of time, and relatively Long-time then certain error can be produced along with the existence of drift, accordingly, it would be desirable to three axis accelerometer A1 and three-axis gyroscope G1 Mutually adjust and guarantee the correct of course.Steady in order to improve that natural gas tube pipeline robot navigates in closed conduit walking process Qualitative, it is achieved the most accurately adjusting and lifting independent navigation ability of attitude, the present invention is natural gas line robot servo Hardware system adds three-axis gyroscope G1 and three axis accelerometer A1.Omnidistance unlatching during pipe robot walking pipeline Three-axis gyroscope G1 and three axis accelerometer A1, three-axis gyroscope G1 and three axis accelerometer A1 are respectively used for measuring pipeline machine The angular velocity of three directions of advance of people and angular acceleration, controller is obtained by integration according to the angular acceleration recorded and angular velocity Its accurate acceleration, speed and angle of inclination.When the attitude of pipe robot changes and exceedes setting threshold values, new at one Sampling period controller the most immediately to its position compensation, it is to avoid pipe robot is in the process of walking because tilting excessive and turn over To the generation of phenomenon, improve stability during its quick walking navigation；If to three-axis gyroscope G1 and three axis accelerometer A1 is integrated, and it is transformed in navigational coordinate system, pipe robot can not rely in closed conduit any outside Portion's information just can obtain the information such as its acceleration, speed, yaw angle and position in navigational coordinate system, produced navigation Information continuity is good and noise is the lowest, greatly enhances the autonomous inertial navigation ability of pipe robot.When pipeline machine When people reads cross pipeline entrance, robot to realize 90 or turn right 90 action, in this case, three axle tops Spiral shell instrument G1 and three axis accelerometer A1 can accurately calculate the angle that pipe robot rotates, it is ensured that it is accurate that it is turned Property；When pipe robot be in climbing patrol and examine time, three-axis gyroscope G1 and three axis accelerometer A1 can accurately measure upgrade angle Degree, ARM can accurately calculate climbing power demand according to this angle, it is ensured that pipe robot can be complete according to command speed Become to patrol and examine pipeline task.

Toothed belt transmission is closed ring adhesive tape and the corresponding belt wheel institute group being provided with equidistant tooth by an inner peripheral surface Become.During motion, band tooth is meshed with the teeth groove of belt wheel transmitting movement and power, is a kind of engaged transmission, thus has gear and pass Dynamic, Chain conveyer and the various advantages of Belt Drive.Toothed belt transmission has gear ratio 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 under the occasion the most severe with working environment and normally works, the particularly suitable spinning transmission of compact conformation, therefore The present invention uses Timing Belt technology to form six axle eight wheel drive mode.

The present invention is to solve the problems referred to above, have developed and a kind of eight taken turns by what six rare earth permanent-magnet synchronization motor differentials drove Crawler type three core high speed natural gas tube pipeline robot, the servo control algorithm of six rare earth permanent-magnet synchronization motors is completed by FPGA, Increase the rapidity of system-computed, provide when the permagnetic synchronous motor that two of which power is bigger is patrolled and examined for robot normal speed Energy requirement, four additional lower-powered permanent magnet synchronous electric acc power is equal, and wherein two carry when robot accelerates and patrols and examines For power, other two low-power machines provide power when robot climbs；The multiple wheel of left and right sides passes through tracked machine respectively Tool links；Natural gas tube pipeline robot relies on its carry sensors to carry out patrolling and examining major gas pipeline.

The present invention, on the premise of absorbing external Dynamic matrix control thought, has independently invented based on ARM+ FPGA+DSP complete New three nuclear control patterns.Controller principle figure such as Fig. 1 of this design: controller is with ARM as processor core, and FPGA realizes six The SERVO CONTROL of axle permagnetic synchronous motor, DSP realize image acquisition digital signal process in real time and with ARM communication, ARM from Free in the middle of complicated work, it is achieved the real time position collection of six axle three-phase permanent magnet synchronous motors, and respond DSP interrupt, Realize data communication and storage live signal.

As it is shown on figure 3, described high speed natural gas line robot control system be additionally provided with host computer procedure, based on ARM motion control program, based on DSP image acquisition and based on Hall effect pipe damage detect, described host computer procedure Also including pipeline reading, location positioning and power information, described also includes based on FPGA six axle based on ARM motion control program The storage of permagnetic synchronous motor SERVO CONTROL, data and I/O control, described based on DSP image acquisition with based on Hall effect pipe Road fault localization is connected with based on ccd image collecting unit with based on Hall effect pipeline inspection collecting unit communication respectively.

For reaching above-mentioned purpose, the present invention takes techniques below scheme, in order to improve the utilization rate of the energy and reduce robot The permagnetic synchronous motor that volume, native system efficiency and power density are the highest instead of the motor such as motor, direct current generator； In order to improve system acceleration request, system is that these extraordinary operating modes add two lower-powered permagnetic synchronous motors and play and add Speed power-assisted effect, increases system dynamic characteristic；In order to improve the general hill climbing demands of system, system is that these extraordinary operating modes add Two lower-powered permagnetic synchronous motors play climbing power-assisted effect, increase system dynamic characteristic；In order to improve arithmetic speed, Ensureing stability and the reliability of automatic pipeline robot system, the present invention introduces FPGA sum in controller based on ARM Word signal processor DSP, forms brand-new three nuclear control devices based on ARM+ FPGA+DSP, and this controller takes into full account that battery exists The effect of this system, six maximum for workload in control system axle Permanent magnet synchronous servo system give FPGA complete, battery Monitoring, path reading, deviation processing etc. give 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, FPGA and DSP, simultaneously three Between can also carry out communication, carry out data exchange in real time and call.

As shown in Figure 4, for the ARM+ FPGA+DSP tri-nuclear control device designed herein, under power-on state, ARM Pipe robot battery SOC (state-of-charge) is first judged by controller, if battery power is relatively low, controller can send report Alert signal；If battery power is higher, first defeated patrolling and examining the information such as natural gas line length and radius by USB interface by PC Entering to ARM, then pipe robot is placed to pipe detection mouth, and pipe robot is introduced into self-locking state, waits inlet valve F1 opens；After laser displacement sensor LSF determines that valve is opened, pipe robot enters buffer area to be checked, then entrance Valve F1 closes, and inlet valve F2 opens, and pipe robot enters pipe detection region；The image acquisition system that robot carries System, humidity collection system and pipe damage detection device are all opened, and pipe robot is fast along patrolling and examining route according to setting speed Speed is patrolled and examined, and ARM is input to FPGA, FPGA magnetic navigation sensor ME1 parameter and these magnetic navigation sensors ME1 parameter is converted into Pipe robot is permagnetic synchronous motor X, permagnetic synchronous motor Y, permagnetic synchronous motor Z and permanent-magnet synchronous under track is patrolled and examined in appointment Distance, speed and acceleration to be run for motor R, FPGA feeds back in conjunction with current feedback, the photoelectric encoder of motor, three axles add Velometer A1 and the feedback of three-axis gyroscope G1, obtain, through internal servo control algorithm, the PWM that four permanent magnet synchronous motors control Wave control signal, it is achieved the real-time servo of four permanent magnet synchronous motors controls；DSP is by CCD Real-time Collection duct size information and deposits Storage, if had a question to patrolling and examining some position, will be with ARM communication, ARM sends cutoff command and makes pipeline machine by FPGA People is stopped, and is then judged the state of tubing by DSP secondary image collection and fault localization device.If pipeline Robot completes or turns right to patrol and examine subsidiary conduit when again returning to main pipeline, and ARM will open power-assisted forever by FPGA Magnetic-synchro motor Z and permagnetic synchronous motor R, adjusts pipe robot permanent magnetism according to navigation sensor parameter and rate request secondary The PWM output of synchronous motor X, permagnetic synchronous motor Y, permagnetic synchronous motor Z and permagnetic synchronous motor R, it is achieved four permanent magnetism are same The real-time servo of step motor controls, and in order to reduce energy resource consumption, before returning to main channel, DSP will close the information gathering of CCD；As Really pipe robot is in the process of patrolling and examining, and three-axis gyroscope G1 detects that pipe robot is in climbing and patrols and examines pipeline, and ARM will pass through FPGA opens power-assisted permagnetic synchronous motor Z, permagnetic synchronous motor R, permagnetic synchronous motor U, permagnetic synchronous motor W, FPGA according to Magnetic navigation sensor ME1 parameter and rate request adjust pipe robot permagnetic synchronous motor X, permagnetic synchronous motor Y, permanent magnetism together The PWM output of step motor Z, permagnetic synchronous motor R, permagnetic synchronous motor U and permagnetic synchronous motor W, it is achieved six permanent-magnet synchronous The real-time servo of motor controls.

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 FPGA works, and six permanent magnet synchronous motors PWM ripples are blocked, and alarm sensor by work and sends alarm signal simultaneously；If Battery SOC is normal, and pipe robot enters treats duty, waits work order；

2) manually by PC handle, the information such as duct length, radius and pipeline topography are passed to ARM by USB interface, by ARM anticipates duct size information, and then artificial guiding tube pipeline robot is to the starting end of pipe detection, for precision navigation pipeline Robot walking in closed conduct, ARM first turns on pipe robot based on three-axis gyroscope G1 and three axis accelerometer The inertial navigation pattern of A1;

3) pipe robot ARM begins through magnetic navigation sensor ME1 and reads area navigation magnetic stripe, according to magnetic navigation sensor The value of feedback of ME1 is compared with actual set central value, and ARM inputs to FPGA, FPGA this deviation and this straggling parameter is turned Turn to pipe robot permagnetic synchronous motor X, permagnetic synchronous motor Y, permagnetic synchronous motor Z, permanent magnetism under track is patrolled and examined in appointment Synchronous motor R, distance to be run for permagnetic synchronous motor U and permagnetic synchronous motor W, speed and acceleration command value, FPGA is again In conjunction with current feedback, photoelectric encoder feedback, three axis accelerometer A1 and the feedback of three-axis gyroscope G1 of motor, watch through inside Take control algolithm and obtain the PWM wave control signal that six permanent magnet synchronous motors control, make pipe robot fast along navigation magnetic stripe Speed is advanced, and adjusts the pid parameter of internal SERVO CONTROL program in real time according to peripheral environment FPGA simultaneously, makes system easily realize point Section P, PD, PID control and nonlinear PID controller；During pipe robot advances, front laser displacement sensor LSF is by work Making, ARM detects distance D of pipe robot and front inlet valve F1 in real time, then passes through FPGA in the range of stably stop Block six permanent magnet synchronous motors pwm control signals, allow pipe robot automatic stopping, then 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 that robot is 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 valve Open errorless after, pipe robot initially enters patrols and examines the internal practical situation of region detection natural gas line；

5) after pipe robot enters detection region, first ARM reads the value of feedback of three-axis gyroscope G1, if ARM is by three The feedback of axle gyroscope G1 and three axis accelerometer A1 finds that pipe robot is in climbing and patrols and examines state, in order to ensure pipe machine Device people can complete to patrol and examine pipeline task according to command speed, and according to system speed and acceleration requirement, first ARM calculates and climb Slope power demand, then with FPGA communication, FPGA combines current of electric, photoelectric encoder, three axis accelerometer A1 and three axle tops The feedback of spiral shell instrument G1, adjusts pipe robot permagnetic synchronous motor X, permagnetic synchronous motor Y, permagnetic synchronous motor Z, permanent magnetism in real time Synchronous motor R, permagnetic synchronous motor U and the pwm control signal of permagnetic synchronous motor W, make pipe robot meet constant speed and patrol and examine Requirements for pipes；In climbing detection process, ARM, according to the feedback of magnetic navigation sensor ME1, reads the position that pipe robot is actual Confidence breath, three axis accelerometer A1 and the numerical value of three-axis gyroscope G1, and compared with setting position, determine that pipe robot is inclined From centre distance and the angle of inclination, FPGA feeds back in conjunction with current of electric, photoelectric encoder feedback, three axis accelerometer A1 and The feedback of three-axis gyroscope G1, obtains the PWM ripple control of six permanent magnet synchronous motors according to its internal three Close loop servo control programs Signal processed, and adjust pipe robot attitude in real time by drive circuit, make pipe robot stable operation attached at magnetic stripe center Closely, the air line distance that ARM real time record pipe robot have run, the distance correction sensor S moment detect ground revise Mark, once reads correcting device, and the positional distance information of ARM record to be as the criterion to revise the positional information of mark, eliminates The pipe robot site error caused when walking, when ARM is anti-by three-axis gyroscope G1 and three axis accelerometer A1 Feedback finds that pipe robot is complete climbing action entrance and normally patrols and examines environment, and FPGA block permagnetic synchronous motor Z, permanent magnetism are same Step motor R, permagnetic synchronous motor U and the pwm control signal of permagnetic synchronous motor W, make system enter permagnetic synchronous motor X and forever Magnetic-synchro motor Y driving condition；

6) after pipe robot enters normal detection region, if pipe robot left fork sensing during main pipeline is patrolled and examined Device ME2 reads ground turning mark, and first ARM according to ground installation correction pipe robot positional information in the duct, disappears Except pipe robot walking error；FPGA according to system speed and acceleration requirement, in conjunction with current of electric, photoelectric encoder, Three axis accelerometer A1 and the feedback of three-axis gyroscope G1, adjust pipe robot permagnetic synchronous motor X and permanent-magnet synchronous in real time The pwm control signal of motor Y, makes pipe robot stop in distance R, and then FPGA combines three-axis gyroscope G1 and three axles add The feedback of velometer A1 makes pipe robot rotate in place left 90 degree, and pipe robot enters left turnout and cruises；At Zuo Cha In road detection process, the front laser displacement sensor LSF moment opens and detects doubtful tamper and detects and front terminal Distance；ARM is according to the feedback real time record forward travel distance of front laser displacement sensor LSF, and has before the terminal of distance turnout Making pipe robot effectively stop in the range of effect, pipe robot is former under three-axis gyroscope G1 and three axis accelerometer A1 controls Ground rotation turnback prepares to return to main channel；Owing to left turnout has been patrolled and examined complete, main in order to make pipe robot return quickly to In pipeline, FPGA opens power-assisted permagnetic synchronous motor Z and permagnetic synchronous motor R, makes system enter and accelerates return state；Whole In return course, FPGA, according to system speed and acceleration requirement, accelerates then in conjunction with current of electric, photoelectric encoder, three axles Degree meter A1 and the feedback of three-axis gyroscope G1, adjust pipe robot permagnetic synchronous motor X, permagnetic synchronous motor Y, permanent magnetism in real time Synchronous motor Z and the pwm control signal of permagnetic synchronous motor R, make pipe robot can speed up and return to master along landing ground magnetic stripe Pipeline；Enter normally patrol and examine environment after, FPGA blocks permagnetic synchronous motor Z, the pwm control signal of permagnetic synchronous motor R, make be System enters permagnetic synchronous motor X and permagnetic synchronous motor Y driving condition；

7) after pipe robot enters normal detection region, if pipe robot right fork during main pipeline is patrolled and examined passes Sensor ME3 reads ground turning mark, ARM first according to ground installation correction pipe robot positional information in the duct, Eliminate pipe robot walking error；FPGA according to system speed and acceleration requirement, in conjunction with current of electric, photoelectric encoder, Three axis accelerometer A1 and the feedback of three-axis gyroscope G1, adjust pipe robot permagnetic synchronous motor X and permanent-magnet synchronous in real time The pwm control signal of motor Y, makes pipe robot stop in distance R, and then FPGA combines three-axis gyroscope magnetic navigation sensing The feedback of device and three axis accelerometer A1 makes pipe robot rotate in place right 90 degree, and pipe robot enters right turnout and patrols Boat；In the detection process of right turnout, the front laser displacement sensor LSF moment opens and detects doubtful tamper and detects with front The distance of side's terminal；ARM according to the feedback real time record forward travel distance of front laser displacement sensor LSF, and distance turnout Making pipe robot effectively stop before terminal in effective range, pipe robot is at three-axis gyroscope G1 and three axis accelerometer A1 Rotate in place 180 degree under control to prepare to return to main channel；Owing to right turnout has been patrolled and examined complete, in order to make pipe robot quick Returning in main pipeline, FPGA opens power-assisted permagnetic synchronous motor Z and permagnetic synchronous motor R, makes system enter and accelerates to return shape State；In whole return course, ARM according to system speed and acceleration requirement, then in conjunction with current of electric, photoelectric encoder, Three axis accelerometer A1 and the feedback of three-axis gyroscope G1, adjust pipe robot permagnetic synchronous motor X, permanent magnet synchronous electric in real time Machine Y, permagnetic synchronous motor Z and the pwm control signal of permagnetic synchronous motor R, make pipe robot can speed up along landing ground magnetic Bar returns to main pipeline；Enter after normally patrolling and examining environment, controller block permagnetic synchronous motor Z, the PWM control of permagnetic synchronous motor R Signal processed, makes system enter permagnetic synchronous motor X and permagnetic synchronous motor Y driving condition；

8) after pipe robot enters normal detection region, if pipe robot left fork sensing during main pipeline is patrolled and examined Device ME2 and right fork sensor ME3 reads ground turning mark simultaneously, illustrates that pipe robot enters cross pipeline monitor Mouthful, ARM, first according to ground installation correction pipe robot positional information in the duct, eliminates pipe robot walking by mistake Difference；FPGA according to system speed and acceleration requirement, then in conjunction with current of electric, photoelectric encoder, three axis accelerometer A1 and The feedback of three-axis gyroscope G1, the PWM adjusting pipe robot permagnetic synchronous motor X and permagnetic synchronous motor Y in real time controls letter Number, making pipe robot enter right turnout and cruise, ARM is according to the feedback real time record of front laser displacement sensor LSF Forward travel distance, and make pipe robot effectively stop in effective range before the terminal of distance turnout, pipe robot is at three axle tops Spiral shell instrument G1 and three axis accelerometer A1 rotates in place 180 degree and returns to main channel under controlling, FPGA opens power-assisted permagnetic synchronous motor Z With permagnetic synchronous motor R, make system enter four-wheel and accelerate return state；When right laser displacement sensor LSR and left laser displacement The feedback of sensor LSL occurs when higher magnitude changes, and illustrates that pipe robot comes into cross mouth position, and now ARM opens Begin to revise the error of pipe robot walking, it is ensured that pipe robot positional distance information is correct, when right laser displacement sensor The feedback of LSR and left laser displacement sensor LSL occurs when higher magnitude changes again, illustrates that pipe robot comes into a left side Fork pipeline, now ARM starts to revise the error of pipe robot walking, it is ensured that pipe robot positional distance information is just Really, FPGA according to system speed and acceleration requirement, then in conjunction with current of electric, photoelectric encoder, three axis accelerometer A1 and The feedback of three-axis gyroscope G1, the PWM adjusting pipe robot permagnetic synchronous motor X and permagnetic synchronous motor Y in real time controls letter Number, making pipe robot enter left turnout and cruise, ARM is according to the feedback real time record of front laser displacement sensor LSF Forward travel distance, and make pipe robot effectively stop in effective range before the terminal of distance turnout, pipe robot is at three axle tops Spiral shell instrument G1 and three axis accelerometer A1 rotates in place 180 degree and returns to main channel under controlling, FPGA opens power-assisted permagnetic synchronous motor Z With permagnetic synchronous motor R, make system enter four-wheel and accelerate return state；When right laser displacement sensor LSR and left laser displacement The feedback of sensor LSL occurs when higher magnitude changes, and illustrates that pipe robot has returned to cross mouth position, and ARM starts to repair The error of positive pipe robot walking, it is ensured that pipe robot positional distance information is correct, and controller is walked by pipe robot Steadily it is parked in crossroad after one segment distance, then controls bottom left at three-axis gyroscope G1 and three axis accelerometer A1 and turn 90 degrees weight Newly return to main pipeline detection region；

9) pipe robot is in the constant speed motor process of whole detection region, the first feedback according to magnetic navigation sensor ME1 of ARM, Read positional information, three axis accelerometer A1 and the numerical value of three-axis gyroscope G1 that pipe robot is actual, and and setting position Compare, determine that pipe robot off-center distance and the angle of inclination, this deviation signal of ARM input to FPGA, FPGA handle This straggling parameter is converted into pipe robot permagnetic synchronous motor X and permagnetic synchronous motor Y under track is patrolled and examined in appointment and to transport Row distance, speed and acceleration, in conjunction with motor current feedback, photoelectric encoder feedback, three axis accelerometer A1 and three The feedback of axle gyroscope G1, obtains, through internal servo control algorithm, the PWM wave control signal that two permanent magnet synchronous motors controls, and Adjusted pipe robot attitude in real time by drive circuit, make pipe robot stable operation at magnetic stripe immediate vicinity, root simultaneously Adjust the pid parameter of internal SERVO CONTROL program according to peripheral environment FPGA in real time, make system easily realize segmentation P, PD, PID control System and nonlinear PID controller；The air line distance that ARM real time record robot have run, the distance correction sensor S moment examines Mark is revised in geodetic face, once reads correcting device, and the positional distance information of ARM record will be to revise the positional information of mark It is as the criterion, eliminates the pipe robot site error caused when walking；

10) if pipe robot in normal motion by external interference or run into magnetic stripe and rupture, magnetic navigation passes Sensor ME1 cannot read ground magnetic strip information, and this left laser displacement sensor LSL and right laser displacement sensor LSR will open Opening work, the distance input that records to ARM, is obtained off-centered position compared with setting value by the two, and ARM is by this deviation Signal inputs to FPGA, FPGA and this straggling parameter is converted into pipe robot permagnetic synchronous motor under track is patrolled and examined in appointment Distance, speed and acceleration command value to be run for X and permagnetic synchronous motor Y, in conjunction with current feedback, the photoelectric coding of motor Device feedback, three axis accelerometer A1 and the feedback of three-axis gyroscope G1, obtain two permanent magnetism through its internal servo control algorithm same The PWM ripple that step motor controls, and adjust pipe robot attitude in real time by drive circuit, make pipe robot stable operation exist Near pipeline planar central, adjust the pid parameter of internal SERVO CONTROL program according to peripheral environment FPGA in real time, make system light Realize segmentation P, PD, PID to control and nonlinear PID controller；The air line distance that ARM real time record pipe robot has run, The distance correction sensor S moment is detected ground and revises mark, once reads correcting device, and ARM record position range information is wanted It is as the criterion with the positional information of correction mark, eliminates site error during pipe robot walking；

11) in pipe robot motor process, the CCD moment in image acquisition opens, the figure that DSP real-time storage CCD gathers Picture, DSP compares the standard pipe information of the image gathered with setting, if there is bigger error in the two comparison result, In order to prevent maloperation, DSP sends interrupt requests immediately, and ARM makes an immediate response DSP interrupt, and and communication, by allowing pipeline machine People is stopped, and DSP makes CCD secondary acquisition duct size information and compares with standard pipe information and obtain latest result, then DSP with ARM, FPGA controller communication, it is same that FPGA opens permagnetic synchronous motor X, permagnetic synchronous motor Y, permagnetic synchronous motor Z and permanent magnetism Step motor R makes pipe robot be in boost phase, and after reaching setting speed, FPGA block permagnetic synchronous motor Z and permanent magnetism are same The pwm control signal of step motor R, two axles making pipe robot be in permagnetic synchronous motor X and permagnetic synchronous motor Y drive shape State also continues to move ahead along pipeline navigation marker；

12) in pipe robot motor process, the humidity sensor moment in humidity collection system opens, ARM real-time storage The humidity information that humidity sensor collects, and compare with the standard pipe humidity information set, if the two comparison knot There is bigger error, in order to prevent maloperation, ARM Yu FPGA communication in fruit, and is actively adjusted by the internal SERVO CONTROL program of FPGA The PWM wave control signal of whole two permanent magnet synchronous motors X and permagnetic synchronous motor Y, the speed reducing pipe robot makes it slow Speed, by doubt region, adjusts the pid parameter of internal SERVO CONTROL program in real time, makes system light according to peripheral environment FPGA Strobilus Pini existing segmentation P, PD, PID control and nonlinear PID controller；ARM sends interrupt requests to DSP immediately simultaneously, and DSP rings immediately Answering ARM to interrupt, and strengthen the comparison of aqueous water in CCD pipeline collection information, DSP stores the doubtful image of steam and the reality in this region Border positional information；After by suspicious region, then dsp controller and ARM, FPGA controller communication, it is same that FPGA opens permanent magnetism Step motor X, permagnetic synchronous motor Y, permagnetic synchronous motor Z and permagnetic synchronous motor R make pipe robot be in boost phase, when Reach FPGA block permagnetic synchronous motor Z and the pwm control signal of permagnetic synchronous motor R after setting speed, make robot be in The two axle driving conditions of permagnetic synchronous motor X and permagnetic synchronous motor Y also continue to move ahead along pipeline navigation marker；

13) in pipe robot motor 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, ARM with FPGA communication, and by the internal SERVO CONTROL program active accommodation two permanent magnet synchronous motors X's and permagnetic synchronous motor Y of FPGA PWM wave control signal, the speed reducing pipe robot makes it drive towards at a slow speed barrier, adjusts in real time according to peripheral environment FPGA The pid parameter of internal SERVO CONTROL program, makes system easily realize segmentation P, PD, PID and controls and nonlinear PID controller；Simultaneously ARM sends interrupt requests to DSP immediately, and the DSP ARM that makes an immediate response interrupts, and strengthens the ratio of tamper in CCD pipeline collection information Right, DSP stores the doubtful image of blocking and the actual position information in this region, owing to this pipe robot designed is to take turns shoe more Band type structure, FPGA control pipe robot open simultaneously permagnetic synchronous motor X, permagnetic synchronous motor Y, permagnetic synchronous motor Z, Permagnetic synchronous motor R, permagnetic synchronous motor U, permagnetic synchronous motor W are over barrier and continue to move ahead.When by doubtful Behind region, FPGA controller closes permagnetic synchronous motor Z, permagnetic synchronous motor R, permagnetic synchronous motor U and permagnetic synchronous motor W Drive signal, make robot be in the two axle driving conditions of permagnetic synchronous motor X and permagnetic synchronous motor Y and navigate along pipeline Mark continues to move ahead；

14) in pipe robot motor process, pipeline inspection sensor based on Hall effect is by work, when before conduit running Side's probe value occurs abnormal, ARM Yu FPGA communication, and by internal two permanent-magnet synchronous of SERVO CONTROL program active accommodation of FPGA The PWM wave control signal of motor X and permagnetic synchronous motor Y, the speed reducing pipe robot makes it drive towards at a slow speed pipe damage Suspicious region, adjusts the pid parameter of internal SERVO CONTROL program in real time, makes system easily realize segmentation according to peripheral environment FPGA P, PD, PID control and nonlinear PID controller；ARM sends interrupt requests to DSP immediately simultaneously, DSP make an immediate response ARM interrupt, And strengthen the comparison of pipe damage in CCD pipeline collection information, if DSP finds that doubtful pipe damage image will store this figure Picture, if DSP does not finds pipe damage image, will record suspicious lesion actual position information, and labelling outer damage, when passing through Behind suspicious region, ARM Yu FPGA communication, FPGA open permagnetic synchronous motor X, permagnetic synchronous motor Y, permagnetic synchronous motor Z and Permagnetic synchronous motor R makes robot be in boost phase, FPGA controller block permagnetic synchronous motor Z after reaching setting speed With the pwm control signal of permagnetic synchronous motor R, pipe robot is made to be in permagnetic synchronous motor X and the two of permagnetic synchronous motor Y Axle driving condition also continues to move ahead along pipeline navigation marker；

15) in pipe robot motor process, ARM can store in the moment the pipeline location of process or process Reference point, FPGA is converted into pipe robot permagnetic synchronous motor X and permanent magnetism under track is patrolled and examined in appointment this location parameter Distance, speed and acceleration to be run for synchronous motor Y, in conjunction with motor current feedback, photoelectric encoder feedback, three axles add Velometer A1 and the feedback of three-axis gyroscope G1, obtain what two permanent magnet synchronous motors controlled through the internal servo control algorithm of FPGA PWM wave control signal, makes pipe robot quickly move ahead according to setting speed, in adjusting in real time according to peripheral environment FPGA simultaneously The pid parameter of portion's SERVO CONTROL program, makes system easily realize segmentation P, PD, PID and controls and nonlinear PID controller；

16) if pipe robot detective distance solves and occurs that endless loop will send interrupt requests to ARM in motor process, ARM can to interrupt do the very first time response, ARM will forbid pipe robot at Information revision of adjusting the distance, ARM is according to pipeline magnetic stripe Navigation marker feedback and left laser displacement sensor LSL and the feedback of right laser displacement sensor LSR, adjusted in real time by FPGA Permanent-magnet synchronous X-motor and the speed of permagnetic synchronous motor Y, it is ensured that pipe robot slowly rolls away from towards outlet, and abandons all Collecting work；

17) permagnetic synchronous motor X, permagnetic synchronous motor Y, permagnetic synchronous motor Z, permagnetic synchronous motor R, permanent magnet synchronous electric it are contained in Photoelectric encoder on machine U and permagnetic synchronous motor W can export its position signalling A and position signalling B, the position of photoelectric encoder Signal A pulse and B pulsed logic state often change once, the location register in ARM can add 1 according to the traffic direction of motor or Person is to subtract 1；When the position signalling A pulse of photoelectric encoder and B pulse and Z pulse are low level simultaneously, just produce an INDEX Signal, to ARM internal register, the absolute position of record permagnetic synchronous motor, is then convert into pipe robot in pipe detection Particular location in system；

18) pipe robot calculates battery SOC at running ARM in real time according to its internal algorithm, if controller finds electricity When source energy is relatively low, ARM with FPGA, DSP communication, and can close ccd image collecting work and image storage work by DSP, And exported by the PWM of FPGA internal SERVO CONTROL program adjustment permagnetic synchronous motor X and permagnetic synchronous motor Y, make pipe machine Device people drives towards exit with slower speed, it is ensured that pipe robot can arrive exit smoothly；

19) during pipe robot is patrolled and examined, if there is pulsation in the torque that servo controller detects permagnetic synchronous motor, The vector controlled used due to the present invention, therefore FPGA can be easy to compensate this interference, decreases motor torque to pipeline machine The impact of people's motor process；

20) during pipe robot drives towards outlet valve, the front laser displacement sensor LSF that it carries can moment inspection Survey the displacement between itself and valve, when determine outlet valve F3 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 determining that pipe robot is treated completely into outlet Behind inspection region, outlet valve F3 will close, and natural gas aspirator is by aspirating the natural gas situation in region to be checked, when natural diarrhea due to stagnation of QI Dew device is not detected by region to be checked when having natural gas to remain, and outlet valve F4 will open, now front laser displacement sensor Secondary is judged the state of front exit valve F4 by LSF, determine front valve open errorless after, pipe robot roll away from detection pipe Road, returns to detect terminal, waits next sense command.

The invention have the advantages that:

1: in pipe robot motor process, take into full account battery effect in this system, based on ARM+ FPGA+ Its state is all being monitored and computing by the DSP tri-nuclear control device moment, has both avoided the lithium caused due to heavy-current discharge The generation of ion battery overaging phenomenon, can effectively predict again the energy of battery, patrol and examine for pipe robot and provided Effect ensures；

2: processed pipe robot six permagnetic synchronous motors SERVO CONTROL based on vector controlled by FPGA so that control to compare Simply, substantially increase arithmetic speed, solve control algolithm and take the problem that ARM cycle of operation is longer, shorten exploitation week Phase is short, 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 panel and takes up room, And beneficially the alleviating of pipe robot volume and weight；

4: it is conventional that the pipe robot navigation system of the present invention uses permagnetic synchronous motor to instead of in conventional machines people's system Motor, direct current generator, DC brushless motor, due to its small volume, efficiency is higher so that pipe robot volume is permissible Reducing further, energy utilization rate is greatly improved；

5: owing to permagnetic synchronous motor uses vector controlled so that speed adjustable range is relatively wide, contrast of regulating speed is steady, even if at low speed The pulsating torque of stage motor is the least, the dynamic property of beneficially raising system；

6: owing to this controller uses DSP to process figure collection and the mass data of storage and algorithm, FPGA process six axles forever The SERVO CONTROL of magnetic-synchro motor, frees ARM from hard work amount, effectively prevent " race flies " of program, Capacity of resisting disturbance is greatly enhanced；

7: in the controlling, FPGA can adjust inside six axle permagnetic synchronous motor servos according to robot periphery ruuning situation in good time Pid parameter, it is achieved segmentation P, PD, PID control and nonlinear PID controller, the cutting of speed during low cruise in making system meet Change；

8: equipped with humidity collection system on pipe robot, the humidity abnormal area in tunnel can be detected easily, can Effectively find the existence of pipeline water droplet；

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；

10: image based on DSP storage function makes pipe robot facilitate staff to read after completing task and patrols and examines result, Pipeline corrupted information and particular location, then on-call maintenance can be read easily from storage result；

11: equipped with 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；

12: the addition of three-axis gyroscope G1 and three axis accelerometer A1 can the most accurately detect pipe robot deviation pipeline plane Angle of inclination, ARM can be monitored and pass through FPGA the moment to this angle, and to adjust the PWM ripple of permagnetic synchronous motor accordingly defeated Go out, effectively control the attitude of pipe robot；

13: turning navigation marker in ground coordinates left and right sides laser displacement sensor to make system can easily read duct size information, Be conducive to pipe robot location in complicated pipeline and the elimination of site error；

14: angle when pipe robot is turned can be the most accurately measured in the addition of three-axis gyroscope G1 and three axis accelerometer A1 Degree, improves reliable basis for pipe robot turning navigation in complicated pipeline；

15: the addition of three-axis gyroscope G1 and three axis accelerometer A1 can the most accurately detect angle during pipe robot climbing Degree, this angle can be detected in the moment by ARM, and effectively unlatching assist motor is that pipe robot patrols and examines the acclive pipeline of tool Power demand is provided；

16: the addition of magnetic navigation sensor ME1 and laser displacement sensor makes system navigation have certain redundancy, greatly Improve the stability of pipe robot；

17: the addition of multiple power-assisteds wheel makes the power performance adjustment of system have optional so that pipe robot can be expired Power demand under the different operating mode of foot so that the adaptation ability of pipe robot is strengthened；

The 18:ARM moment dynamically adjusts the power of each motor according to duty requirements, makes each motor all be operated in optimum condition Under, be conducive to putting forward high-octane utilization rate；

19: the addition of Timing Belt technology makes mechanical assistance wheel all have power, and the addition of crawler belt simultaneously effectively increases pipeline The area that robot contacts in the duct, makes robot can improve environment fit effectively by having obstruction object area Ying Xing；

20: the addition of three-axis gyroscope G1 and three axis accelerometer A1 can the most accurately be measured pipe robot and be sent out at line navigation Raw speed and direction skew, improve reliable basis for pipe robot inertial navigation in complicated pipeline.

To sum up telling, the three core six axle caterpillar type high-speed natural gas line robot control systems of the present invention, in order to improve The utilization rate of the energy and the permagnetic synchronous motor reducing robot volume, native system efficiency and power density the highest instead of The motor such as motor, direct current generator；In order to improve system acceleration request, system is that these extraordinary operating modes add two power Less permagnetic synchronous motor plays acceleration power-assisted effect, increases system dynamic characteristic；In order to improve the general hill climbing demands of system, System is that these extraordinary operating modes add two lower-powered permagnetic synchronous motors and play climbing power-assisted effect, increases system and moves Force characteristic；In order to improve arithmetic speed, it is ensured that the stability of automatic pipeline robot system and reliability, the present invention based on The controller of ARM introduces FPGA and digital signal processor DSP, forms brand-new three nuclear control based on ARM+ FPGA+DSP Device, this controller takes into full account the battery effect in this system, the six axle permanent-magnet synchronous that workload in control system is maximum Servosystem gives that FPGA completes, battery cell monitoring, path reading, deviation processing etc. give ARM process, give full play to ARM data The comparatively faster feature of processing speed, and the function such as image data acquiring and storage is given DSP and completed, thus achieve ARM, The division of labor of FPGA Yu DSP, can also carry out communication simultaneously, carry out data exchange in real time and call between three.

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 relevant technology neck Territory, is the most in like manner included in the scope of patent protection of the present invention.

Claims

1. a core six axle caterpillar type high-speed natural gas line robot control system, it is characterised in that include battery, control Device, permagnetic synchronous motor X, permagnetic synchronous motor Y, permagnetic synchronous motor Z, permagnetic synchronous motor R, permagnetic synchronous motor U, permanent magnetism Synchronous motor W, based on ccd image collecting unit, image storage unit, humidity collection unit, based on Hall effect pipeline inspection Collecting unit and pipe robot, described battery is provided separately the controller described in electric current driving, and described controller is adopted With three nuclear control devices, including ARM, FPGA and DSP, described ARM, FPGA and DSP carries out communication connection, described ARM and FPGA sends the first control signal, the second control signal, the 3rd control signal, the 4th control signal, the 5th control signal respectively With the 6th control signal, by the first described control signal, the second control signal, the 3rd control signal, the 4th control signal, Five control signals and the 6th control signal control described permagnetic synchronous motor X, permagnetic synchronous motor Y, permanent magnet synchronous electric respectively Pipe robot is controlled again after the signal syntheses of machine Z, permagnetic synchronous motor R, permagnetic synchronous motor U and permagnetic synchronous motor W Motion, described is all connected with DSP communication based on ccd image collecting unit and image storage unit, described humidity collection Unit and being all connected with ARM and FPGA communication based on Hall effect pipeline inspection collecting unit.

High speed natural gas line robot control system the most according to claim 1, it is characterised in that described battery is adopted Use lithium ion battery.

High speed natural gas line robot control system the most according to claim 1, it is characterised in that the first described control Signal processed, the second control signal, the 3rd control signal, the 4th control signal, the 5th control signal and the 6th control signal are PWM wave control signal.

High speed natural gas line robot control system the most according to claim 1, it is characterised in that described ARM adopts Use STM32F746；Described FPGA uses QUICKLOGIC；Described DSP uses TMS320F2812.

High speed natural gas line robot control system the most according to claim 1, it is characterised in that described pipe machine Device people include robot housing, front laser displacement sensor, magnetic navigation sensor, left fork sensor, right fork sensor, Three-axis gyroscope, three axis accelerometer and Timing Belt, described front laser displacement sensor is separately mounted to robot shell The front end of body, described left fork sensor and right fork sensor lay respectively at the left and right below the laser displacement sensor of front Two ends, described Timing Belt be separately positioned on robot housing limit, the left and right sides and respectively with permagnetic synchronous motor X, permanent magnetism with Step motor Y, permagnetic synchronous motor Z, permagnetic synchronous motor R, permagnetic synchronous motor U and permagnetic synchronous motor W connect, described magnetic Navigation sensor, three-axis gyroscope and three axis accelerometer are separately positioned on robot housing and are positioned at permagnetic synchronous motor X And between permagnetic synchronous motor Y.

High speed natural gas line robot control system the most according to claim 5, it is characterised in that described front is swashed Optical displacement sensor includes front laser displacement sensor, left front laser displacement sensor and right front laser displacement sensing Device, described front laser displacement sensor is arranged on the centre position of robot housing dead ahead, described left front laser Displacement transducer and the most angularly disposed two ends, left and right at robot housing dead ahead of right front laser displacement sensor.

High speed natural gas line robot control system the most according to claim 5, it is characterised in that described Timing Belt Use six axle eight wheel drive mode, be closed ring crawler belt and the corresponding belt wheel institute being provided with equidistant tooth by an inner peripheral surface Composition.

High speed natural gas line robot control system the most according to claim 1, it is characterised in that described natural gas Pipe robot control system be additionally provided with host computer procedure, based on ARM motion control program, based on DSP image acquisition and Detecting based on Hall effect pipe damage, described host computer procedure also includes pipeline reading, location positioning and power information, institute That states also includes based on FPGA six axle permagnetic synchronous motor SERVO CONTROL, data storage and I/O control based on ARM motion control program System, described based on DSP image acquisition and based on the detection of Hall effect pipe damage respectively with based on ccd image collecting unit and Connect based on Hall effect pipeline inspection collecting unit communication.

High speed natural gas line robot control system the most according to claim 1, it is characterised in that described natural gas Pipe robot control system also includes that photoelectric encoder, described photoelectric encoder are separately mounted to permagnetic synchronous motor X, forever On magnetic-synchro motor Y, permagnetic synchronous motor Z, permagnetic synchronous motor R, permagnetic synchronous motor U and permagnetic synchronous motor W.