CN106078736A - One is wirelessly transferred dinuclear ten axle crawler type natural gas line robot control system - Google Patents
One is wirelessly transferred dinuclear ten axle crawler type natural gas line robot control system Download PDFInfo
- Publication number
- CN106078736A CN106078736A CN201610409057.6A CN201610409057A CN106078736A CN 106078736 A CN106078736 A CN 106078736A CN 201610409057 A CN201610409057 A CN 201610409057A CN 106078736 A CN106078736 A CN 106078736A
- Authority
- CN
- China
- Prior art keywords
- synchronous motor
- permagnetic synchronous
- control signal
- arm
- robot
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- VNWKTOKETHGBQD-UHFFFAOYSA-N methane Chemical compound C VNWKTOKETHGBQD-UHFFFAOYSA-N 0.000 title claims abstract description 102
- 239000003345 natural gas Substances 0.000 title claims abstract description 51
- 230000001360 synchronised effect Effects 0.000 claims abstract description 269
- 238000004891 communication Methods 0.000 claims abstract description 29
- 238000003860 storage Methods 0.000 claims abstract description 26
- 238000006073 displacement reaction Methods 0.000 claims description 65
- 238000000034 method Methods 0.000 claims description 37
- 230000033001 locomotion Effects 0.000 claims description 22
- 230000006378 damage Effects 0.000 claims description 19
- 230000005355 Hall effect Effects 0.000 claims description 16
- 230000005389 magnetism Effects 0.000 claims description 16
- 238000007689 inspection Methods 0.000 claims description 13
- 230000002093 peripheral effect Effects 0.000 claims description 7
- 238000003786 synthesis reaction Methods 0.000 claims description 6
- HBBGRARXTFLTSG-UHFFFAOYSA-N Lithium ion Chemical compound [Li+] HBBGRARXTFLTSG-UHFFFAOYSA-N 0.000 claims description 4
- 229910001416 lithium ion Inorganic materials 0.000 claims description 4
- 230000004807 localization Effects 0.000 claims description 4
- 230000015572 biosynthetic process Effects 0.000 claims 1
- 238000013500 data storage Methods 0.000 claims 1
- 238000011160 research Methods 0.000 abstract description 6
- 230000008569 process Effects 0.000 description 28
- 238000001514 detection method Methods 0.000 description 21
- 230000001133 acceleration Effects 0.000 description 19
- 230000009194 climbing Effects 0.000 description 16
- 230000000694 effects Effects 0.000 description 15
- 230000005540 biological transmission Effects 0.000 description 14
- 238000012937 correction Methods 0.000 description 8
- 230000006870 function Effects 0.000 description 8
- 229910052761 rare earth metal Inorganic materials 0.000 description 8
- 150000002910 rare earth metals Chemical class 0.000 description 8
- 230000002159 abnormal effect Effects 0.000 description 6
- 230000008901 benefit Effects 0.000 description 6
- 238000005516 engineering process Methods 0.000 description 6
- 230000007246 mechanism Effects 0.000 description 6
- 230000004044 response Effects 0.000 description 6
- 230000004888 barrier function Effects 0.000 description 5
- 238000004422 calculation algorithm Methods 0.000 description 5
- 239000007789 gas Substances 0.000 description 5
- 239000003550 marker Substances 0.000 description 5
- 238000013461 design Methods 0.000 description 4
- 238000010586 diagram Methods 0.000 description 4
- 238000012545 processing Methods 0.000 description 4
- 230000001276 controlling effect Effects 0.000 description 3
- 230000005611 electricity Effects 0.000 description 3
- 238000004880 explosion Methods 0.000 description 3
- 238000009434 installation Methods 0.000 description 3
- 239000000463 material Substances 0.000 description 3
- 238000012544 monitoring process Methods 0.000 description 3
- 230000011664 signaling Effects 0.000 description 3
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 3
- CURLTUGMZLYLDI-UHFFFAOYSA-N Carbon dioxide Chemical compound O=C=O CURLTUGMZLYLDI-UHFFFAOYSA-N 0.000 description 2
- 230000004308 accommodation Effects 0.000 description 2
- 238000004458 analytical method Methods 0.000 description 2
- 238000011161 development Methods 0.000 description 2
- 230000018109 developmental process Effects 0.000 description 2
- 230000001771 impaired effect Effects 0.000 description 2
- 230000010354 integration Effects 0.000 description 2
- 230000007774 longterm Effects 0.000 description 2
- 230000003287 optical effect Effects 0.000 description 2
- 239000000523 sample Substances 0.000 description 2
- 238000004804 winding Methods 0.000 description 2
- RYGMFSIKBFXOCR-UHFFFAOYSA-N Copper Chemical compound [Cu] RYGMFSIKBFXOCR-UHFFFAOYSA-N 0.000 description 1
- RWSOTUBLDIXVET-UHFFFAOYSA-N Dihydrogen sulfide Chemical compound S RWSOTUBLDIXVET-UHFFFAOYSA-N 0.000 description 1
- 235000017899 Spathodea campanulata Nutrition 0.000 description 1
- 230000009471 action Effects 0.000 description 1
- 230000006978 adaptation Effects 0.000 description 1
- 239000002390 adhesive tape Substances 0.000 description 1
- 230000001174 ascending effect Effects 0.000 description 1
- 230000000386 athletic effect Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 210000004556 brain Anatomy 0.000 description 1
- 230000001680 brushing effect Effects 0.000 description 1
- 238000004364 calculation method Methods 0.000 description 1
- 229910002092 carbon dioxide Inorganic materials 0.000 description 1
- 239000001569 carbon dioxide Substances 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 238000004140 cleaning Methods 0.000 description 1
- 230000002493 climbing effect Effects 0.000 description 1
- 238000004590 computer program Methods 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 229910052802 copper Inorganic materials 0.000 description 1
- 239000010949 copper Substances 0.000 description 1
- 230000007797 corrosion Effects 0.000 description 1
- 238000005260 corrosion Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000004069 differentiation Effects 0.000 description 1
- 239000000428 dust Substances 0.000 description 1
- 235000013399 edible fruits Nutrition 0.000 description 1
- 230000005662 electromechanics Effects 0.000 description 1
- 230000008030 elimination Effects 0.000 description 1
- 238000003379 elimination reaction Methods 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 238000003912 environmental pollution Methods 0.000 description 1
- 238000005530 etching Methods 0.000 description 1
- 230000005284 excitation Effects 0.000 description 1
- 239000002360 explosive Substances 0.000 description 1
- 229910000037 hydrogen sulfide Inorganic materials 0.000 description 1
- 239000012535 impurity Substances 0.000 description 1
- 230000002452 interceptive effect Effects 0.000 description 1
- 238000002372 labelling Methods 0.000 description 1
- 239000006101 laboratory sample Substances 0.000 description 1
- 230000003902 lesion Effects 0.000 description 1
- 230000003137 locomotive effect Effects 0.000 description 1
- 238000005461 lubrication Methods 0.000 description 1
- 239000000696 magnetic material Substances 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 239000011159 matrix material Substances 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 230000005055 memory storage Effects 0.000 description 1
- 229910001172 neodymium magnet Inorganic materials 0.000 description 1
- 230000010349 pulsation Effects 0.000 description 1
- 230000001105 regulatory effect Effects 0.000 description 1
- 238000005096 rolling process Methods 0.000 description 1
- 238000005070 sampling Methods 0.000 description 1
- 230000011218 segmentation Effects 0.000 description 1
- 230000008054 signal transmission Effects 0.000 description 1
- 238000004088 simulation Methods 0.000 description 1
- 238000009987 spinning Methods 0.000 description 1
- GOLXNESZZPUPJE-UHFFFAOYSA-N spiromesifen Chemical compound CC1=CC(C)=CC(C)=C1C(C(O1)=O)=C(OC(=O)CC(C)(C)C)C11CCCC1 GOLXNESZZPUPJE-UHFFFAOYSA-N 0.000 description 1
- 238000012876 topography Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
- B25J9/161—Hardware, e.g. neural networks, fuzzy logic, interfaces, processor
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/005—Manipulators mounted on wheels or on carriages mounted on endless tracks or belts
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
- F16L55/00—Devices or appurtenances for use in, or in connection with, pipes or pipe systems
- F16L55/26—Pigs or moles, i.e. devices movable in a pipe or conduit with or without self-contained propulsion means
- F16L55/28—Constructional aspects
- F16L55/30—Constructional aspects of the propulsion means, e.g. towed by cables
- F16L55/32—Constructional aspects of the propulsion means, e.g. towed by cables being self-contained
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
- G05D1/0248—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means in combination with a laser
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0259—Control of position or course in two dimensions specially adapted to land vehicles using magnetic or electromagnetic means
- G05D1/0263—Control of position or course in two dimensions specially adapted to land vehicles using magnetic or electromagnetic means using magnetic strips
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
- F16L2101/00—Uses or applications of pigs or moles
- F16L2101/30—Inspecting, measuring or testing
Landscapes
- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
- Robotics (AREA)
- Chemical & Material Sciences (AREA)
- General Engineering & Computer Science (AREA)
- General Physics & Mathematics (AREA)
- Combustion & Propulsion (AREA)
- Remote Sensing (AREA)
- Electromagnetism (AREA)
- Radar, Positioning & Navigation (AREA)
- Aviation & Aerospace Engineering (AREA)
- Fuzzy Systems (AREA)
- Computer Vision & Pattern Recognition (AREA)
- Multimedia (AREA)
- Optics & Photonics (AREA)
- Software Systems (AREA)
- Mathematical Physics (AREA)
- Evolutionary Computation (AREA)
- Artificial Intelligence (AREA)
- Manipulator (AREA)
Abstract
The invention discloses one and be wirelessly transferred dinuclear ten axle crawler type natural gas line robot control system, described controller uses dual-core controller, carries out communication connection including ARM and DSP, described ARM and DSP by wireless device.By the way, what the present invention provided is wirelessly transferred dinuclear ten axle crawler type natural gas line robot control system, the independent research brand-new double-core control model of ARM+DSP, panel is with ARM as processor core, DSP realize image acquisition digital signal Real-time Collection, store, be wirelessly transferred and CCD two axle DC servo alignment system control, and moment and ARM communication, ARM is freed in the middle of complicated work, ARM realizes the real-time control of eight axle three-phase permanent magnet synchronous motors, and respond DSP interrupt, it is achieved data communication and storage live signal.
Description
Technical field
The present invention relates to the field of large-scale pipeline robot, particularly relating to one, to be wirelessly transferred dinuclear ten 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 contained in medium, carbon dioxide,
The impurity such as free water, dust, makes the pipeline laid be in inside and outside etching condition, and inside can produce obstruction feelings the most 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, 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 720mm bore in the southeast, New Mexico occurs
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
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 repeatedly
Having an accident, the accident such as pipeline generation explosion, leakage, stopping transportation not only causes huge property loss, and jeopardizes ecological ring
Border.
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.
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 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；
7) radio transmitting device: in order to find in time and the problem of process, automatic Pipeline robot must use without traditional thread binding
Put, the image acquisition 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 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
Poor；
(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) pipe robot kinestate oneself adjustment capability is poor, and controlled mode affects, robot attitude in pipeline
Parameter identification is poor, the angle of robot None-identified oneself's plane and pipeline principal plane, causes occurring inclining during robot ambulation
Tiltedly, overturn the most sometimes, cause mission failure；
(6) 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；
(7) the most most of pipe robot, poor to the Context awareness in pipeline, is all the collection image stored by analysis
Carrying out analysis conduit situation, real-time condition distinguishes poor；
(8) for using six to take turns power-actuated pipe robot, the power adjustment capability relatively two-wheeled of robot, four move in turn
Power drives and increases, and can meet the acceleration under the simple operating mode of pipe robot and climbing function, but run into and have necessarily
When the pipeline of the gradient or large obstacle, demand power is relatively big, and six take turns power just demonstrates the weakness being short of power out,
Dynamic performance is reduced；
(9) due to the drift angle formed when three axis accelerometer just can obtain robot ambulation by quadratic integral, three-axis gyroscope
The drift angle that robot ambulation is formed just can be obtained, owing to the existence of integration makes pipe robot airtight through an integration
In pipeline, position during inertial navigation sometimes there will be certain mistake.
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 one and is wirelessly transferred dinuclear ten axle crawler type natural gas line machine
Device people's control system, the independent research brand-new double-core control model of ARM+DSP, panel with ARM as processor core, DSP
Realize image acquisition digital signal Real-time Collection, store, be wirelessly transferred and CCD two axle DC servo alignment system control,
And moment and ARM communication, ARM is freed in the middle of complicated work, ARM realizes the reality of eight axle three-phase permanent magnet synchronous motors
Time control, 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: provides one and is wirelessly transferred dinuclear
Ten axle crawler type natural gas line robot control systems, including battery, controller, permagnetic synchronous motor X, permagnetic synchronous motor
Y, permagnetic synchronous motor Z, permagnetic synchronous motor R, permagnetic synchronous motor U, permagnetic synchronous motor W, permagnetic synchronous motor J, permanent magnetism
Synchronous motor K, 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 electric current and drives
Dynamic described controller, described controller uses dual-core controller, including ARM and DSP, described ARM and DSP by wireless
Device carries out communication connection, and described is all connected with DSP communication based on ccd image collecting unit and image storage unit, described
Humidity collection unit and be all connected with ARM communication based on Hall effect pipeline inspection collecting unit, described ARM sends respectively
First control signal, the second control signal, the 3rd control signal, the 4th control signal, the 5th control signal, the 6th control letter
Number, the 9th control signal and the tenth control signal, by the first described control signal, the second control signal, the 3rd control signal,
4th control signal, the 5th control signal, the 6th control signal, the 9th control signal and the tenth 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, permanent magnetism
The motion of pipe robot, institute is controlled again after the signal syntheses of synchronous motor W, permagnetic synchronous motor J and permagnetic synchronous motor K
The DSP stated sends the 7th control signal and the 8th control signal respectively, by the 7th described control signal and the 8th control signal
Connect with based on ccd image collecting unit communication after controlling the signal syntheses of described direct current generator A and direct current generator B respectively
Connect.
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, the 6th control signal, the 9th control signal and the tenth control signal be PWM ripple
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, Digital Magnetic Compass, three axis accelerometer, three axle tops
Spiral shell instrument and Timing Belt, described front laser displacement sensor is separately mounted to the front end of robot housing, described left trouble
Oral instructions sensor and right fork sensor lay respectively at the two ends, left and right below the laser displacement sensor of front, and described Timing Belt divides
Be not arranged on robot housing limit, the left and right sides and respectively with permagnetic synchronous motor X, permagnetic synchronous motor Y, permanent magnet synchronous electric
Machine Z, permagnetic synchronous motor R, permagnetic synchronous motor U, permagnetic synchronous motor W, permagnetic synchronous motor J and permagnetic synchronous motor K are even
Connecing, described magnetic navigation sensor, Digital Magnetic Compass, three axis accelerometer and three-axis gyroscope are successively set on robot respectively
On housing and between permagnetic synchronous motor X and permagnetic synchronous motor Y, described direct current generator A and direct current generator B is respectively provided with
On robot housing and lay respectively at above left fork sensor and right fork sensor, described wireless device is positioned at machine
The rear end of device people's 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 the most angularly disposed at robot shell
The two ends, left and right of body dead ahead.
In a preferred embodiment of the present invention, described Timing Belt uses eight 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, main motion control program, from motion control program, based on Hall effect pipe damage detection and be wirelessly transferred, described
Host computer procedure also include pipeline read, location positioning and power information, described main motion control program also include based on
The storage of ARM eight axle permagnetic synchronous motor SERVO CONTROL, data 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 image acquisition, described based on the detection of Hall effect pipe damage with wireless
Transmission is 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, permagnetic synchronous motor Z, permanent magnetism together
Step motor R, permagnetic synchronous motor U, permagnetic synchronous motor W, permagnetic synchronous motor J, permagnetic synchronous motor K, direct current generator A and straight
On stream motor B.
The invention has the beneficial effects as follows: the dinuclear ten axle crawler type natural gas tube pipeline robot that is wirelessly transferred of the present invention controls
System, in order to improve the utilization rate of the energy and reduce the permanent magnetism that robot volume, native system efficiency and power density are the highest
Synchronous motor instead of the motor such as motor, direct current generator；In order to improve system acceleration request, system is these extraordinary operating modes
Add two lower-powered permagnetic synchronous motors and play acceleration power-assisted effect, increase system dynamic characteristic；In order to improve system
Hill climbing demands as unification, system is that these extraordinary operating modes add two lower-powered permagnetic synchronous motors and play climbing power-assisted
Effect, increases system dynamic characteristic；In order to improve the requirement of system span large obstacle, system is that these extraordinary operating modes add
Two lower-powered permagnetic synchronous motors play obstacle detouring power-assisted effect, increase system dynamic characteristic；In order to improve computing speed
Degree, it is ensured that the stability of automatic pipeline robot system and reliability, the present invention introduces numeral letter in controller based on ARM
Number processor DSP, forms brand-new dual-core controller based on ARM+DSP, and this controller takes into full account that battery is in this system
Effect, reads eight maximum for workload in control system central siphon pipeline robot navigation servosystem, battery cell monitoring, path to give
ARM process, gives full play to the comparatively faster feature of ARM data processing speed, and image data acquiring, storage and CCD direct current is watched
Take the functions such as alignment system control to give DSP and complete, thus achieve the division of labor of ARM Yu DSP, therebetween can also simultaneously
Carry out communication, carry out data exchange in real time and call.
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 preferably implements with being wirelessly transferred dinuclear ten 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 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:
One is wirelessly transferred dinuclear ten axle crawler type natural gas line robot control system, including battery, controller, permanent magnetism together
Step motor X, permagnetic synchronous motor Y, permagnetic synchronous motor Z, permagnetic synchronous motor R, permagnetic synchronous motor U, permagnetic synchronous motor
W, permagnetic synchronous motor J, permagnetic synchronous motor K, direct current generator A, direct current generator B, deposit 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 be provided separately electric current drive described in controller, described controller uses dual-core controller, including ARM and DSP, institute
ARM and DSP stated carries out communication connection by wireless device, described based on ccd image collecting unit and image storage unit
All it is connected with DSP communication, described humidity collection unit and based on Hall effect pipeline inspection collecting unit all with ARM communication even
Connect, described ARM send respectively the first control signal, the second control signal, the 3rd control signal, the 4th control signal, the 5th
Control signal, the 6th control signal, the 9th control signal and the tenth control signal, by the first described control signal, the second control
Signal processed, the 3rd control signal, the 4th control signal, the 5th control signal, the 6th control signal, the 9th control signal and the tenth
Control signal controls described permagnetic synchronous motor X, permagnetic synchronous motor Y, permagnetic synchronous motor Z, permagnetic synchronous motor respectively
Control again after the signal syntheses of R, permagnetic synchronous motor U, permagnetic synchronous motor W, permagnetic synchronous motor J and permagnetic synchronous motor K
The motion of tubing giving sufficient strength robot, described DSP sends the 7th control signal and the 8th control signal respectively, by the 7th described control
After the signal syntheses that signal processed and the 8th control signal control described direct current generator A and direct current generator B respectively with based on CCD
Image acquisition units communication connects.Wherein, described battery uses lithium ion battery；Described the first control signal, the second control
Signal processed, the 3rd control signal, the 4th control signal, the 5th control signal, the 6th control signal, the 9th control signal and the tenth
Control signal is PWM wave control signal.
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 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, 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, 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 accurate acquisition pipe interior damage information, this controller be ccd image acquisition system add based on
DSP two-dimensional localization servosystem, this two-dimentional system includes direct current generator A and direct current generator B, when DSP is compared by storage image
After finding suspicious region, main website adjusted the height of ccd image acquisition system lifting by controlled in wireless direct current generator A, then
The angle that ccd image acquisition system rotates is adjusted so that the center of CCD is directed at the center of doubtful object, then by direct current generator B
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, patrols and examines pipeline interpretation of result for pipe robot and provides basis for estimation.
In order to accurately 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, front laser displacement sensor, magnetic navigation sensor ME1, Zuo Cha
Oral instructions sensor ME2, right fork sensor ME3, Digital Magnetic Compass M1, three axis accelerometer A1, three-axis gyroscope G1 and synchronization
Band T, described front laser displacement sensor is separately mounted to the front end of robot housing K, described left fork sensor ME2
Laying respectively at the two ends, left and right below the laser displacement sensor of front with right fork sensor ME3, described Timing Belt T sets respectively
Put the limit, the left and right sides of robot housing K and respectively with permagnetic synchronous motor X, permagnetic synchronous motor Y, permagnetic synchronous motor Z,
Permagnetic synchronous motor R, permagnetic synchronous motor U, permagnetic synchronous motor W, permagnetic synchronous motor J and permagnetic synchronous motor K connect, institute
The magnetic navigation sensor ME1, Digital Magnetic Compass M1, three axis accelerometer A1 and the three-axis gyroscope G1 that state are successively set on machine respectively
On device people housing K and between permagnetic synchronous motor X and permagnetic synchronous motor Y, described direct current generator A and direct current generator B
It is arranged on robot housing K and lays respectively at left fork sensor ME2 and the top of right fork sensor ME3, described
Wireless senser I is positioned at the rear end of robot housing K.Wherein, described laser displacement sensor includes that front laser displacement passes
Sensor LSF, left laser displacement sensor LSL and right laser displacement sensor LSR, described front laser displacement sensor LSF
It is arranged on the centre position of robot housing K dead ahead, described left laser displacement sensor LSL and right laser displacement sensor
The most angularly disposed two ends, left and right at robot housing K dead ahead of LSR.
The magnetic navigation sensor ME1 moment detects the magnetic stripe in pipeline, and sensor is the first navigation criterion according to this, works as magnetic stripe
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.
Digital Magnetic Compass M1 is the directivity measurement spatial attitude angle utilizing earth's magnetic field intrinsic, and it can measure carrier
3 d pose data: horizontal course, pitching, roll, can be widely used for needing to obtain platform (or carrier) attitude angle
Occasion, Digital Magnetic Compass M1 has that volume is little, course precision height, slant range width, the advantage of the high and low power consumption of frequency response, is well suited for
For not only course precision being had higher requirements simultaneously but also to power consumption, the occasion of finite volume.In order to improve natural gas line machine
The stability that device people navigates in closed conduit walking process, it is achieved automatically adjusting and independent navigation ability of attitude, and subtract
The error that few accelerometer A1 and three-axis gyroscope G1 long term simulation bring, the present invention is in natural gas line robot servo hardware system
System uses the inertial navigation system of three axis accelerometer A1+ three-axis gyroscope G1+ Digital Magnetic Compass M1.At pipe robot row
Omnidistance unlatching three axis accelerometer A1, three-axis gyroscope G1 and Digital Magnetic Compass M1 during walking pipeline, three axis accelerometer is used for
Measuring the angular acceleration of three directions of advance of pipe robot, three-axis gyroscope G1 is used for measuring three advance sides of pipe robot
To angular velocity, Digital Magnetic Compass M1 be used for measure pipe robot spatial attitude angle.When the attitude of pipe robot occurs
When varying more than setting threshold values, at a new sampling period controller the most immediately to its position compensation, it is to avoid pipe robot
Translate into the generation of phenomenon because of tilting excessive in the process of walking, improve stability during its quick walking navigation；Pipeline
Robot can not rely in closed conduit any external information just can obtain its acceleration in navigational coordinate system,
The information such as speed, yaw angle and position, produced navigation information seriality is good and noise is the lowest, greatly enhances pipeline
The autonomous inertial navigation ability of robot.When pipe robot reads cross pipeline entrance, pipe robot to realize
90 or turn right 90 action, in this case, three axis accelerometer and three-axis gyroscope coordinate Digital Magnetic Compass permissible
Accurately calculate the angle that robot rotates, it is ensured that its accuracy turned.When pipe robot be in climbing patrol and examine time, three
Axis accelerometer A1 and three-axis gyroscope G1 coordinates Digital Magnetic Compass M1 can accurately measure ramp angle, and ARM is according to this angle
Degree can accurately calculate climbing power demand, it is ensured that pipe robot can complete to patrol and examine pipeline task according to command speed.
When pipe robot be in climbing barrier patrol and examine time, three axis accelerometer A1 and three-axis gyroscope G1 coordinate Digital Magnetic Compass M1
Can accurately measure the angle of climbing barrier, ARM can accurately calculate, according to this angle, power demand of ascending, it is ensured that
Pipe robot can complete the task of climbing barrier according to command speed.
Timing Belt T 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.Timing Belt T 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 eight axle eight wheel drive mode.
The present invention is to solve the problem that domestic pipeline robot exists, have developed a kind of by six rare-earth permanent-magnetic synchronous electricity
The eight of machine driving take turns and are wirelessly transferred crawler type double-core natural gas tube pipeline robot, the rare-earth permanent-magnetic synchronous that two of which power is bigger
Energy requirement, four additional lower-powered rare earth permanent-magnet synchronization motor power are provided when motor is patrolled and examined for robot normal speed
Equal, two rare earth permanent-magnet synchronization motors therein provide power, other two small-power rare earths when robot accelerates to patrol and examine
Permagnetic synchronous motor provides power when robot climbs；The multiple of left and right sides take turns respectively by crawler belt mechanical linkages, based on two
The servosystem of axle direct current generator provides positioning function for ccd image acquisition system, and natural gas tube pipeline robot relies on it to carry
Sensor carries out patrolling and examining major gas pipeline.
The present invention absorbing on the premise of external Dynamic matrix control thought, independent research 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 image acquisition
The Real-time Collection of digital signal, store, be wirelessly transferred and CCD two axle DC servo alignment system controls, and the moment leads to ARM
News, free ARM in the middle of complicated work, and ARM realizes the real-time control of eight 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 controls
Program, from motion control program, based on Hall effect pipe damage detection and be wirelessly transferred, described host computer procedure also wraps
Including pipeline reading, location positioning and power information, described main motion controls program and also includes based on ARM eight axle permanent magnet synchronous electric
The storage of machine SERVO CONTROL, data and I/O control, and described also including from motion control program is watched based on DSP two axle direct current generator
Clothes control and based on DSP image acquisition, 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 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 system span
The requirement of large obstacle, system is that these extraordinary operating modes add two lower-powered permagnetic synchronous motors and play obstacle detouring and help
Power effect, increases system dynamic characteristic；In order to improve arithmetic speed, it is ensured that the stability of automatic pipeline robot system is with reliable
Property, the present invention introduces digital signal processor DSP in controller based on ARM, forms brand-new double-core based on ARM+DSP control
Device processed, this controller takes into full account the battery effect in this system, the eight axle pipe machines that workload in control system is maximum
Device people navigate servosystem, battery cell monitoring, path read give ARM process, give full play to ARM data processing speed relatively fast
Feature, and the functions such as image data acquiring, storage and CCD DC servo alignment system control are given DSP and are completed, thus real
Show the division of labor of ARM Yu DSP, communication can also have been carried out therebetween simultaneously, carry out data exchange in real time and call.
As shown in Figure 4, for the ARM+DSP dual-core controller designed herein, under power-on state, ARM controller
First judging the battery SOC (state-of-charge) of robot, if battery power is relatively low, controller can send alarm signal；
If battery power is higher, is first inputed to ARM by wireless device patrolling and examining the information such as natural gas line length and radius, then manage
Pipeline robot is placed to pipe detection mouth, and pipe robot is introduced into self-locking state, waits that inlet valve F1 opens, when front is swashed
After Optical displacement sensor LSF determines that valve is opened, pipe robot enters buffer area to be checked, and then inlet valve F1 closes,
Inlet valve F2 opens, and pipe robot enters pipe detection region；Image capturing system, humidity that pipe robot carries are adopted
Collecting system and pipe damage detection device, control device of wireless are all opened, pipe robot according to setting speed along patrolling and examining road
Line fast inspection, it is same that ARM adjusts pipe robot permanent magnetism according to magnetic navigation sensor ME1 parameter or wireless signal transmission secondary
The PWM of step motor X, permagnetic synchronous motor Y, permagnetic synchronous motor Z and permagnetic synchronous motor R exports control signal, it is achieved six
The real-time servo of permagnetic synchronous motor controls, and DSP is made by direct current generator A and direct current generator B two axle DC servo alignment system
CCD the most effectively gathers duct size information and stores, if DSP has a question to patrolling and examining some position, and will be by wireless to main website
Send image transmitting interrupt requests and with ARM communication, controlled in wireless ARM send cutoff command and make pipe robot stop, main
Stand and realize CCD secondary image collection and fault localization by wireless device, and by DSP real time record and storage；If pipe machine
Device people completes or turns right to patrol and examine subsidiary conduit when again returning to main pipeline, and ARM will open power-assisted permagnetic synchronous motor Z
With permagnetic synchronous motor R, adjust pipe robot permanent magnet synchronous electric according to magnetic navigation sensor ME1 parameter and rate request secondary
The PWM output of machine X, permagnetic synchronous motor Y, permagnetic synchronous motor Z and permagnetic synchronous motor R, it is achieved four permanent magnet synchronous motors
Real-time servo control, in order to reduce energy resource consumption, the information gathering of CCD will be closed returning DSP before main channel；If pipeline
Robot detects at pipe robot at the process of patrolling and examining, three axis accelerometer A1, three-axis gyroscope G1 and Digital Magnetic Compass M1
Patrolling and examining pipeline in climbing, ARM will open power-assisted permagnetic synchronous motor Z, permagnetic synchronous motor R, permagnetic synchronous motor U, permanent magnetism together
Step motor W, adjusts pipe robot permagnetic synchronous motor X, permanent magnetism again according to magnetic navigation sensor ME1 parameter and rate request
The PWM output of synchronous motor Y, permagnetic synchronous motor Z, permagnetic synchronous motor R, permagnetic synchronous motor U and permagnetic synchronous motor W,
The real-time servo realizing six permanent magnet synchronous motors controls；If pipe robot needs to cross over large-scale obstacle in the process of patrolling and examining
Thing, ARM will open power-assisted permagnetic synchronous motor Z, permagnetic synchronous motor R, permagnetic synchronous motor U, permagnetic synchronous motor W, permanent magnetism
Synchronous motor J, permagnetic synchronous motor K, ARM controller adjusts pipe again according to magnetic navigation sensor ME1 parameter and rate request
Pipeline robot permagnetic synchronous motor X, permagnetic synchronous motor Y, permagnetic synchronous motor Z, permagnetic synchronous motor R, permagnetic synchronous motor
U, permagnetic synchronous motor W, permagnetic synchronous motor J, the PWM output of permagnetic synchronous motor K, it is achieved the reality of eight permanent magnet synchronous motors
Time SERVO CONTROL.
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
Eight permanent magnet synchronous motors work, permagnetic synchronous motor input PWM ripple is blocked, and alarm sensor by work and sends report simultaneously
Alert signal, ARM sends replacing power interruptions by wireless device to master station and asks；If battery SOC is normal, pipe robot enters
Enter and treat duty, wait work order；
2) master station by wireless device letter of calling the roll of the contestants in athletic events information, the last time such as right for weather duct length, radius and pipeline topography
Breath is transferred to ARM, and then wireless device guiding tube pipeline robot is to the starting end of pipe detection, for precision navigation pipeline machine
People's walking in closed conduct, ARM first turns on pipe robot based on three axis accelerometer A1+ three-axis gyroscope G1+ number
The inertial navigation pattern of word magnetic compass M1;
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 permagnetic synchronous motor X, permagnetic synchronous motor Y, permagnetic synchronous motor Z, permagnetic synchronous motor R, permagnetic synchronous motor are adjusted
U, the PWM output of permagnetic synchronous motor W, make pipe robot fast forward through along navigation magnetic stripe, and front laser displacement passes simultaneously
Sensor LSF is by work, and ARM detects distance D of pipe robot and front inlet valve F1 in real time, then in stably stop scope
Interior automatic stopping, 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 determine pipe robot completely into
Behind region to be checked, inlet valve F1 will be again switched off, after natural gas leakage device detects that inlet valve F1 completely closes, and entrance
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 region and starts to detect the internal practical situation of 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, three axis accelerometer A1, three-axis gyroscope G1 and the numerical value of Digital Magnetic Compass M1, and compared with setting position,
Determine pipe robot off-center distance and the angle of inclination, ARM feeds back in conjunction with current of electric, photoelectric encoder feeds back,
Three axis accelerometer A1, three-axis gyroscope G1 and the feedback of Digital Magnetic Compass M1, according to its internal three Close loop servo control programs
Obtain the PWM wave control signal of two permanent magnet synchronous motors, and adjust pipe robot attitude in real time by drive circuit, make pipe
Pipeline robot stable operation is at magnetic stripe immediate vicinity, if master station finds pipe robot larger amplitude by the collection image of feedback
Degree deviate from navigation track, by the attitude by control device of wireless preferential Calibration pipe robot；ARM, real time record machine
The air line distance that people has run, the distance correction sensor S moment detect ground revise mark, once read correcting device,
The positional distance information of ARM record to be as the criterion to revise the positional information of mark, eliminates pipe robot being made when walking
The site error become；If pipe robot has been misread ground in the process of walking and revised mark, main website will be by being wirelessly transferred
Device and ARM communication, and automatically revise the positional information of pipe robot；
6) after pipe robot enters detection region, if ARM is by three axis accelerometer A1, three-axis gyroscope G1 and numeral magnetic
The feedback of compass M1 finds that pipe robot is in climbing and patrols and examines state, in order to ensure that pipe robot can be according to command speed
Completing to patrol and examine pipeline task, according to system speed and acceleration requirement, first ARM calculates climbing power demand, in conjunction with electricity
Dynamo-electric stream, photoelectric encoder, three axis accelerometer A1, three-axis gyroscope G1 and the feedback of Digital Magnetic Compass M1, adjust pipe in real time
Pipeline robot permagnetic synchronous motor X, permagnetic synchronous motor Y, permagnetic synchronous motor Z, permagnetic synchronous motor R, permagnetic synchronous motor U
With the pwm control signal of permagnetic synchronous motor W, make pipe robot meet constant speed and patrol and examine requirements for pipes；At climbing detection process
In, ARM according to the feedback of magnetic navigation sensor ME1, read the actual positional information of pipe robot, three axis accelerometer A1,
Three-axis gyroscope G1 and the numerical value of Digital Magnetic Compass M1, and compared with setting position, determine pipe robot off-center away from
From the angle with inclination, ARM is in conjunction with current of electric feedback, photoelectric encoder feedback, three axis accelerometer A1, three-axis gyroscope
G1 and the feedback of Digital Magnetic Compass M1, obtain the PWM of six permanent magnet synchronous motors according to its internal three Close loop servo control programs
Wave control signal, and adjust pipe robot attitude in real time by drive circuit, make pipe robot stable operation in magnetic stripe
Near the heart, if by the collection image of feedback, master station finds that pipe robot deviate from navigation track by a relatively large margin, will pass through
The attitude of control device of wireless preferential Calibration pipe robot；The straight line that ARM real time record pipe robot have run away from
From, the distance correction sensor S moment is detected ground and revises mark, once reads correcting device, the positional distance letter of ARM record
Breath to be as the criterion to revise the positional information of mark, eliminates the pipe robot site error caused when walking, when ARM leads to
Cross three axis accelerometer A1, three-axis gyroscope G1 and Digital Magnetic Compass M1 finds that pipe robot is complete climbing action and enters
Normally patrol and examine environment, controller block permagnetic synchronous motor Z, permagnetic synchronous motor R, permagnetic synchronous motor U and permanent magnet synchronous electric
The pwm control signal of machine W, makes system enter permagnetic synchronous motor X and permagnetic synchronous motor Y driving condition；
7) 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；ARM according to system speed and acceleration requirement, then in conjunction with current of electric, photoelectric encoder,
Three axis accelerometer A1, three-axis gyroscope G1 and the feedback of Digital Magnetic Compass M1, adjust pipe robot permanent magnet synchronous electric in real time
Machine X and the pwm control signal of permagnetic synchronous motor Y, make pipe robot stop in distance R, and then ARM combines three axles acceleration
The feedback of degree meter A1, three-axis gyroscope G1 and Digital Magnetic Compass M1 makes pipe robot rotate in place left 90 degree, pipe robot
Enter left turnout to cruise；In the detection process of left turnout, the front laser displacement sensor LSF moment opens and detects doubtful
Tamper also detects the distance with front terminal；ARM according to the feedback real time record of front laser displacement sensor LSF advance away from
From, and make pipe robot effectively stop in effective range before distance turnout terminal, robot three axis accelerometer A1, three
Axle gyroscope G1 and Digital Magnetic Compass M1 rotates in place 180 degree and prepares to return to main channel under controlling；Owing to left turnout has been patrolled and examined
Complete, in order to make pipe robot return quickly in main pipeline, ARM opens power-assisted permagnetic synchronous motor Z and permanent magnet synchronous electric
Machine R, makes system enter and accelerates return state；In whole return course, ARM is according to system speed and acceleration requirement, then
In conjunction with current of electric, photoelectric encoder, three axis accelerometer A1, three-axis gyroscope G1 and the feedback of Digital Magnetic Compass M1, in real time
Adjust the PWM control of pipe robot permagnetic synchronous motor X, permagnetic synchronous motor Y, permagnetic synchronous motor Z and permagnetic synchronous motor R
Signal processed, makes pipe robot can speed up and returns to main pipeline along landing ground magnetic stripe；Entering after normally patrolling and examining environment, controller seals
Lock permagnetic synchronous motor Z, the pwm control signal of permagnetic synchronous motor R, make system enter permagnetic synchronous motor X and permanent-magnet synchronous
Motor Y driving condition；
8) after pipe robot enters normal detection region, if pipe robot right fork sensing during main pipeline is patrolled and examined
Device ME3 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；ARM according to system speed and acceleration requirement, then in conjunction with current of electric, photoelectric encoder,
Three axis accelerometer A1, three-axis gyroscope G1 and the feedback of Digital Magnetic Compass M1, adjust pipe robot permanent magnet synchronous electric in real time
Machine X and the pwm control signal of permagnetic synchronous motor Y, make pipe robot stop in distance R, and then ARM combines three axle gyros
The feedback of instrument A1 makes pipe robot rotate in place right 90 degree, and pipe robot enters right turnout and cruises；Visit on right turnout
During survey, the front laser displacement sensor LSF moment opens and detects doubtful tamper and detects the distance with front terminal；
ARM is according to the feedback real time record forward travel distance of front laser displacement sensor LSF, and effective range before the terminal of distance turnout
Inside making pipe robot effectively stop, pipe robot is at three axis accelerometer A1, three-axis gyroscope G1 and Digital Magnetic Compass M1
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, ARM 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, three-axis gyroscope G1 and the feedback of Digital Magnetic Compass M1, adjust pipe robot permanent magnet synchronous electric in real time
Machine X, permagnetic synchronous motor Y, permagnetic synchronous motor Z and the pwm control signal of permagnetic synchronous motor R, enable pipe robot
Accelerate to return to main pipeline along landing ground magnetic stripe；Entering after normally patrolling and examining environment, controller block permagnetic synchronous motor Z and permanent magnetism are same
The pwm control signal of step motor R, makes system enter permagnetic synchronous motor X and permagnetic synchronous motor Y driving condition；
9) 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；ARM according to system speed and acceleration requirement, then in conjunction with current of electric, photoelectric encoder, three axis accelerometer A1, three
Axle gyroscope G1 and the feedback of Digital Magnetic Compass M1, adjust pipe robot permagnetic synchronous motor X and permagnetic synchronous motor Y in real time
Pwm control signal, make pipe robot enter right turnout cruise, ARM is anti-according to front laser displacement sensor LSF's
Feedback real time record forward travel distance, and make pipe robot effectively stop in effective range before the terminal of distance turnout, pipeline machine
People rotates in place 180 degree under three axis accelerometer A1, three-axis gyroscope G1 and Digital Magnetic Compass M1 control and returns to main channel,
ARM opens power-assisted permagnetic synchronous motor Z and permagnetic synchronous motor R, makes system enter four-wheel and accelerates return state；When right laser position
The feedback of displacement sensor LSR and left laser displacement sensor LSL occurs when higher magnitude changes, and illustrates that pipe robot has entered
Entering cross mouth position, now ARM starts to revise the error of pipe robot walking, it is ensured that pipe robot positional distance information is just
Really, when the feedback of right laser displacement sensor LSR and left laser displacement sensor LSL occurs that higher magnitude changes again, say
Open conduit robot comes into left fork pipeline, and now ARM starts to revise the error of pipe robot walking, it is ensured that pipeline
Robot location's range information is correct, and ARM is according to system speed and acceleration requirement, then in conjunction with current of electric, photoelectric coding
Device, three axis accelerometer A1, three-axis gyroscope G1 and the feedback of Digital Magnetic Compass M1, adjust pipe robot permanent-magnet synchronous in real time
Motor X and the pwm control signal of permagnetic synchronous motor Y, make pipe robot enter left turnout and cruise, and ARM is according to front
The feedback real time record forward travel distance of laser displacement sensor LSF, and make pipe machine in effective range before the terminal of distance turnout
Device people effectively stop, and pipe robot is original place under three axis accelerometer A1, three-axis gyroscope G1 and Digital Magnetic Compass M1 control
Rotation turnback returns to main channel, and ARM controller opens power-assisted permagnetic synchronous motor Z and permagnetic synchronous motor R, makes system enter
Four-wheel accelerates return state；When the feedback of sensor LSR and LSL occurs that higher magnitude changes, illustrate that pipe robot is
Returning to cross mouth position, ARM starts to revise the error of pipe robot walking, it is ensured that pipe robot positional distance information is just
Really, controller is walked by pipe robot and is steadily parked in crossroad, then at three axis accelerometer A1, three axles after a segment distance
Gyroscope G1 and Digital Magnetic Compass M1 control bottom left turn 90 degrees and comes back to main pipeline detection region；
10) if pipe robot in normal motion by external interference or run into magnetic stripe and rupture, Magnetic Sensor
ME1 cannot read ground magnetic strip information, and now ARM will be sensed by control device of wireless and master station's communication, left laser displacement
Device LSL and right laser displacement sensor LSR open work, the two by the distance input that records to ARM controller, controller with set
Definite value compares and obtains off-centered position, and ARM feeds back in conjunction with current of electric, photoelectric encoder feedback, 3-axis acceleration
Meter A1, three-axis gyroscope G1 and the feedback of Digital Magnetic Compass M1, obtain two forever according to its internal three Close loop servo control programs
The PWM wave control signal of magnetic-synchro motor, and adjust pipe robot attitude in real time by drive circuit, make pipe robot steady
Surely the air line distance that magnetic stripe immediate vicinity, ARM real time record pipe robot have run, distance correction sensor are operated in
The S moment is detected ground and revises mark, once reads correcting device, and ARM record position range information will be to revise the position of mark
Confidence breath is as the criterion, if pipe robot has misread ground in the process of walking revises mark, main website will be by being wirelessly transferred dress
Put and ARM communication, and automatically revise the positional information of pipe robot, eliminate 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 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 with straight by internal three closed-loop direct SERVO CONTROL programs
The CCD position, output location of stream motor B, makes ccd image gather center and is directed at doubtful picture centre, and CCD secondary acquisition pipeline is believed
Ceasing and pass 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
After reason, controlled in wireless reopens pipe robot, and ARM unlatching permagnetic synchronous motor X, permagnetic synchronous motor Y, permanent magnetism are same
Step motor Z and permagnetic synchronous motor R pipeline make robot be in boost phase, and after reaching setting speed, ARM block permanent magnetism is same
Step motor Z and the pwm control signal of permagnetic synchronous motor R, make pipe robot be in permagnetic synchronous motor X and permanent magnet synchronous electric
The two axle driving conditions of machine Y also continue 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 fruit, and ARM sends interrupt requests by wireless device to main website immediately, and with DSP communication, DSP makes an immediate response
ARM interrupts, and 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 center and is directed at doubtful water images center, and CCD secondary acquisition duct size information also is passed through to be wirelessly transferred
Device real-time Transmission, main website analyzes this suspicious region in real time, confirm errorless after, DSP stores this image and positional information for bis-times, so
ARM is restarted by wireless device in rear main website, controls pipe robot and continues to move ahead, and after by suspicious region, ARM opens permanent magnetism
Synchronous motor X, permagnetic synchronous motor Y, permagnetic synchronous motor Z and permagnetic synchronous motor R make pipe robot be in boost phase,
After reaching setting speed, ARM block permagnetic synchronous motor Z and the pwm control signal of permagnetic synchronous motor R, make pipe robot
It is in the two axle driving conditions of permagnetic synchronous motor X and permagnetic synchronous motor Y and continues 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, and ARM is first
First pass through the PWM ripple control of internal three Close loop servo control program active accommodation two permanent magnet synchronous motors X and permagnetic synchronous motor Y
Signal processed, the speed reducing pipe robot makes it drive towards at a slow speed doubtful pipeline obstruction region, simultaneously ARM immediately to master station and
DSP sends interrupt requests, DSP make an immediate response ARM interrupt, and by internal three closed-loop direct SERVO CONTROL programs adjustment unidirectional currents
The output of machine A and direct current generator B makes it position CCD position, makes ccd image gather center and is directed at doubtful obturator picture centre,
CCD secondary acquisition duct size information also passes through radio transmitting device real-time Transmission, and main website analyzes this suspicious region in real time, due to this
The pipe robot of design is many wheel crawlers structure, and ARM calculates the power of obstacle detouring demand according to image feedback result, then
Pipe robot opens permagnetic synchronous motor X, permagnetic synchronous motor Y, permagnetic synchronous motor Z, permagnetic synchronous motor R, forever simultaneously
Magnetic-synchro motor U, permagnetic synchronous motor W, permagnetic synchronous motor J and permagnetic synchronous motor K, the most left laser displacement sensor
LSL and right laser displacement sensor LSR opens provides navigation foundation for pipe robot across obstacle location positioning, when passing through
Behind suspicious region, ARM closes permagnetic synchronous motor Z, permagnetic synchronous motor R, permagnetic synchronous motor U, permagnetic synchronous motor W, forever
The driving signal of magnetic-synchro motor J and permagnetic synchronous motor K, makes pipe robot be in permagnetic synchronous motor X and permanent-magnet synchronous
The two axle driving conditions of motor Y also continue to move ahead along pipeline navigation marker；
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 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 permagnetic synchronous motor Y, the speed reducing pipe robot makes it drive towards at a slow speed the doubtful district of pipe damage
Territory, ARM sends interrupt requests to master station and DSP immediately simultaneously, and the DSP ARM that makes an immediate response interrupts, and by internal three closed-loop direct
SERVO CONTROL program adjusts the CCD position, output location of direct current generator A and direct current generator B, makes ccd image gather center alignment and doubts
Like damage pipeline position, CCD secondary acquisition duct size information also passes through radio transmitting device real-time Transmission, and main website analyzes this in real time and doubts
Like region, if DSP image acquisition image does not finds pipe damage, DSP will record suspicious lesion actual position information, and labelling
For outer damage, after by suspicious region, ARM opens permagnetic synchronous motor X, permagnetic synchronous motor Y, permagnetic synchronous motor Z
Making pipe robot be in boost phase with permagnetic synchronous motor R, after reaching setting speed, ARM blocks permagnetic synchronous motor Z
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) if pipe robot ARM in normal motion is found at robot by the feedback of sensor LSL and LSR
Time in non-equal diameter pipe, controller will be given up the feedback information of Magnetic Sensor ME1, left laser displacement sensor LSL and the right side and swashed
The distance recorded is inputed to ARM controller by Optical displacement sensor LSR in real time, and then controller obtains compared with setting value partially
Excentric position, ARM combines its internal SERVO CONTROL program according to this deviation signal and obtains the PWM of two permanent magnet synchronous motors
Wave control signal, and adjust pipe robot attitude in real time by drive circuit, make pipe robot stable operation put down at pipeline
Face immediate vicinity, adjusts the pid parameter of internal SERVO CONTROL program in real time according to peripheral environment ARM；ARM real time record pipe machine
The air line distance that device people 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 to revise the positional information of mark, and position when eliminating pipe robot walking is missed
Difference；
16) in pipe robot motor process, ARM can store in the moment the pipeline location of process or process
Reference point, and it is calculated relatively next reference point pipe robot permagnetic synchronous motor X according to these range informations by ARM
Distance, speed and the acceleration to be run with permagnetic synchronous motor Y, ARM feeds back in conjunction with current of electric, photoelectric encoder
Feedback, three axis accelerometer A1, three-axis gyroscope G1 and the feedback of Digital Magnetic Compass M1, according to its internal three Close loop servo control
Program obtains the PWM wave control signal of two permanent magnet synchronous motors, makes pipe robot quickly move ahead according to setting speed；
17) if pipe robot detective distance solves and occurs that endless loop will send interrupt requests to ARM in motor 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
Newly reset ARM, transmits the information such as new position, and ARM is according to pipeline magnetic bar navigation mark feedback and left laser displacement sensor LSL
With the feedback of right laser displacement sensor LSR, adjusting permanent-magnet synchronous X-motor and the speed of motor Y in real time, pipe robot is from newly
Position start to patrol and examine；
18) 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, 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, and the location register in ARM can be according to permagnetic synchronous motor X, permanent magnetism
Synchronous motor Y, permagnetic synchronous motor Z, permagnetic synchronous motor R, permagnetic synchronous motor U, the traffic direction of permagnetic synchronous motor W add
1 or subtract 1；When the position signalling A pulse of photoelectric encoder and B pulse and Z pulse are low level simultaneously, just produce one
INDEX signal, to ARM internal register, the absolute position of record permagnetic synchronous motor, is then convert into pipe robot at pipe
Particular location in road detecting system；
19) 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 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；
20) during pipe robot is patrolled and examined, if there is pulsation in the torque that servo controller detects permagnetic synchronous motor,
The permagnetic synchronous motor used due to the present invention controls to be based on vector controlled, and therefore controller can be easy to compensate this interference,
Decrease the motor torque impact on pipe robot motor process；
21) 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 determining that outlet valve F3 will open cruise mode, ARM at open mode, pipe robot
The distance that real time record pipe robot has moved along magnetic stripe, when determining that pipe robot is completely into exporting region to be checked
After, outlet valve F3 will close, and natural gas aspirator is by aspirating the natural gas situation in region to be checked, when natural gas leakage device
Being not detected by region to be checked when having natural gas to remain, outlet valve F4 will open, and now laser displacement sensor LSF in front is by two
The state of secondary judgement front exit valve F4, determine front valve open errorless after, pipe robot rolls detection pipeline away from, returns to
Detection 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+DSP double-core
Its state is all being monitored and computing by the controller moment, has both avoided the lithium ion battery caused 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: processed pipe robot six permagnetic synchronous motors SERVO CONTROL based on vector controlled by ARM and power adjusts,
Realized the control of the two axle DC servo alignment systems of CCD by DSP, the two had both achieved the division of labor, had been reduced the work of ARM
Amount so that control fairly simple, substantially increase arithmetic speed, solves scm software and runs slower bottleneck, shorten
Construction cycle 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: 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 permagnetic synchronous motor based on vector controlled so that speed adjustable range is relatively wide, contrast of regulating speed is steady, even if
The least 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 capacity of resisting disturbance is greatly enhanced；
7: in the controlling, ARM can adjust eight 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 be effectively improved 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
Well to solve the emergency situations that pipe robot occurs, such as solve deadlock, restart pipe robot etc.；
11: 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；
12: 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；
It is inclined that the addition of 13: three axis accelerometer A1, three-axis gyroscope G1 and Digital Magnetic Compass M1 can effectively detect pipe robot
From the angle of inclination of pipeline plane, this angle can be adjusted and pass through wireless device transmissions to master station by ARM in the moment, effectively controls
Make 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, and make this pipe robot can patrol and examine non-equant complicated pipeline；
15: the addition of crawler belt effectively increases the area that pipe robot contacts in the duct, make the pipe robot can be effective
By having obstruction object area, improve environmental suitability；
16: two axle ccd images based on direct current generator A and direct current generator B gather alignment system can make image acquisition more reliable,
Carry out pipe damage for main website and obstruction information is analyzed in real time and provided reliable basis；
17: 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；
Pipeline machine can be the most accurately measured in the addition of 18: three axis accelerometer A1, three-axis gyroscope G1 and Digital Magnetic Compass M1
Angle when people turns, improves reliable basis for pipe robot turning navigation in complicated pipeline；
The addition of 19: three axis accelerometer A1, three-axis gyroscope G1 and Digital Magnetic Compass M1 can effective accurately detecting pipeline machine
Angle when people climbs, this angle can be detected in the moment by ARM, and effectively unlatching assist motor is that pipe robot patrols and examines tool
Acclive pipeline provides power demand；
20: the addition of multiple stage power-assisted permagnetic synchronous motor makes the power performance adjustment of system have optional so that robot
The power demand under different operating mode can be met so that the adaptation ability of robot is strengthened；
The addition of 21: three axis accelerometer A1, three-axis gyroscope G1 and Digital Magnetic Compass M1 can effective accurately detecting pipeline machine
People ascend large obstacle time angle, this angle can be detected in the moment by ARM, and effectively to open multiple assist motor be machine
Device people passes through barrier and provides power demand；
Pipeline machine can be the most accurately measured in the addition of 22: three axis accelerometer A1, three-axis gyroscope G1 and Digital Magnetic Compass M1
Acceleration, speed and the direction skew that people occurs at line navigation, carries for pipe robot inertial navigation in complicated pipeline
High reliable basis.
To sum up telling, the present invention is wirelessly transferred dinuclear ten axle crawler type natural gas line robot control system, in order to
The utilization rate improving the energy and the permagnetic synchronous motor reducing robot volume, native system efficiency and power density the highest replace
For 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 motor plays acceleration power-assisted effect, increases system dynamic characteristic；Typically climb to improve system
Requirement, system is that these extraordinary operating modes add two lower-powered permagnetic synchronous motors and play climbing power-assisted effect, increases
System dynamic characteristic；In order to improve the requirement of system span large obstacle, system is that these extraordinary operating modes add two merits
The permagnetic synchronous motor that rate is less plays obstacle detouring power-assisted effect, increases system dynamic characteristic；In order to improve arithmetic speed, it is ensured that from
The stability of dynamic pipe robot system and reliability, the present invention is call number word signal processor in controller based on ARM
DSP, forms brand-new dual-core controller based on ARM+DSP, and this controller takes into full account the battery effect in this system, control
In system processed, eight central siphon pipeline robots navigation servosystem of workload maximum, battery cell monitoring, 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, storage and CCD DC servo location are
The functions such as system control are given DSP and are completed, and thus achieve the division of labor of ARM Yu DSP, can also lead to therebetween simultaneously
News, 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 relevant technology neck
Territory, is the most in like manner included in the scope of patent protection of the present invention.
Claims (9)
1. one kind is wirelessly transferred dinuclear ten 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, permagnetic synchronous motor Z, permagnetic synchronous motor R, permagnetic synchronous motor U,
Permagnetic synchronous motor W, permagnetic synchronous motor J, permagnetic synchronous motor K, direct current generator A, direct current generator B, based on ccd image collection
Unit, image storage unit, humidity collection unit, based on Hall effect pipeline inspection collecting unit, wireless device and pipeline
Robot, described battery is provided separately the controller described in electric current driving, and described controller uses dual-core controller, including
ARM and DSP, described ARM and DSP carry out communication connection by wireless device, described based on ccd image collecting unit and figure
All it is connected with DSP communication as memory element, described humidity collection unit and equal based on Hall effect pipeline inspection collecting unit
Being connected with ARM communication, described ARM sends the first control signal, the second control signal, the 3rd control signal, the 4th control respectively
Signal processed, the 5th control signal, the 6th control signal, the 9th control signal and the tenth control signal, by the first described control
Signal, the second control signal, the 3rd control signal, the 4th control signal, the 5th control signal, the 6th control signal, the 9th control
Signal processed and the tenth control signal control respectively described permagnetic synchronous motor X, permagnetic synchronous motor Y, permagnetic synchronous motor Z,
Permagnetic synchronous motor R, permagnetic synchronous motor U, permagnetic synchronous motor W, permagnetic synchronous motor J and the signal of permagnetic synchronous motor K
Controlling the motion of pipe robot after synthesis again, described DSP sends the 7th control signal and the 8th control signal respectively, by
The 7th described control signal and the 8th control signal control described direct current generator A and the signal syntheses of direct current generator B respectively
It is connected with based on ccd image collecting unit communication afterwards.
Natural gas line robot control system the most according to claim 1, it is characterised in that described battery uses lithium
Ion battery.
Natural gas line robot control system the most according to claim 1, it is characterised in that the first described control letter
Number, the second control signal, the 3rd control signal, the 4th control signal, the 5th control signal, the 6th control signal, the 9th control
Signal and the tenth control signal are PWM wave control signal.
Natural gas line robot control system the most according to claim 1, it is characterised in that described ARM uses
STM32F746；Described DSP uses TMS320F2812.
Natural gas line robot control system the most according to claim 1, it is characterised in that described pipe robot
Including robot housing, front laser displacement sensor, magnetic navigation sensor, left fork sensor, right fork sensor, numeral
Magnetic compass, three axis accelerometer, three-axis gyroscope and Timing Belt, described front laser displacement sensor is separately mounted to machine
The front end of device people's housing, described left fork sensor and right fork sensor lay respectively at below the laser displacement sensor of front
Two ends, left and right, described Timing Belt be separately positioned on robot housing limit, the left and right sides and respectively with permagnetic synchronous motor X,
Permagnetic synchronous motor Y, permagnetic synchronous motor Z, permagnetic synchronous motor R, permagnetic synchronous motor U, permagnetic synchronous motor W, permanent magnetism are same
Step motor J and permagnetic synchronous motor K connects, described magnetic navigation sensor, Digital Magnetic Compass, three axis accelerometer and three axle tops
Spiral shell instrument is successively set on robot housing and respectively between permagnetic synchronous motor X and permagnetic synchronous motor Y, and described is straight
Stream motor A and direct current generator B is arranged on robot housing and lays respectively at left fork sensor and right fork sensor
Top, described wireless device is positioned at the rear end of robot housing.
Natural gas line robot control system the most 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 of robot housing dead ahead, described left laser displacement sensor and right laser displacement
The most angularly disposed two ends, left and right at robot housing dead ahead of sensor.
Natural gas line robot control system the most according to claim 5, it is characterised in that described Timing Belt uses
Eight axle eight 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.
Natural gas line robot control system the most according to claim 1, it is characterised in that described natural gas line
Robot control system is additionally provided with host computer procedure, main motion controls 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, location positioning and power information, described
Main motion control program also include based on ARM eight axle permagnetic synchronous motor SERVO CONTROL, data storage and I/O control, described
Also include based on DSP two axle direct current generator SERVO CONTROL with based on DSP image acquisition from motion control program, described based on
Hall effect pipe damage detects and is wirelessly transferred and leads to based on Hall effect pipeline inspection collecting unit and wireless device respectively
News connect.
Natural gas line robot control system the most according to claim 1, it is characterised in that described natural gas line
Robot control system also includes that photoelectric encoder, described photoelectric encoder are separately mounted to permagnetic synchronous motor X, permanent magnetism together
Step motor Y, permagnetic synchronous motor Z, permagnetic synchronous motor R, permagnetic synchronous motor U, permagnetic synchronous motor W, permagnetic synchronous motor
On J, permagnetic synchronous motor K, direct current generator A and direct current generator B.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610409057.6A CN106078736A (en) | 2016-06-13 | 2016-06-13 | One is wirelessly transferred dinuclear ten axle crawler type natural gas line robot control system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610409057.6A CN106078736A (en) | 2016-06-13 | 2016-06-13 | One is wirelessly transferred dinuclear ten axle crawler type natural gas line robot control system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106078736A true CN106078736A (en) | 2016-11-09 |
Family
ID=57227890
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610409057.6A Pending CN106078736A (en) | 2016-06-13 | 2016-06-13 | One is wirelessly transferred dinuclear ten axle crawler type natural gas line robot control system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106078736A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| FR3079297A1 (en) * | 2018-03-23 | 2019-09-27 | Framatome | METHOD FOR DETERMINING THE POSITION AND / OR THE ORIENTATION OF A ROBOT / BEARER EVOLVING IN A PIPING AND ASSOCIATED ASSEMBLIES |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101887037A (en) * | 2010-04-27 | 2010-11-17 | 丹东奥龙射线仪器有限公司 | Wheel-type X-ray flaw detection robot device |
| US20150105907A1 (en) * | 2013-10-10 | 2015-04-16 | Seiko Epson Corporation | Robot controller, robot system, robot, robot control method, and program |
| CN105137975A (en) * | 2015-08-24 | 2015-12-09 | 铜陵学院 | Six-wheel double-core automatic high speed fire extinguishing robot servo controller |
| CN105204502A (en) * | 2015-08-24 | 2015-12-30 | 铜陵学院 | Dual-core medium-speed six-wheel little mouse exploration controller and control method thereof |
| CN205281258U (en) * | 2015-12-31 | 2016-06-01 | 浙江同筑科技有限公司 | Double -deck control system of AGV based on ARM |
-
2016
- 2016-06-13 CN CN201610409057.6A patent/CN106078736A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101887037A (en) * | 2010-04-27 | 2010-11-17 | 丹东奥龙射线仪器有限公司 | Wheel-type X-ray flaw detection robot device |
| US20150105907A1 (en) * | 2013-10-10 | 2015-04-16 | Seiko Epson Corporation | Robot controller, robot system, robot, robot control method, and program |
| CN105137975A (en) * | 2015-08-24 | 2015-12-09 | 铜陵学院 | Six-wheel double-core automatic high speed fire extinguishing robot servo controller |
| CN105204502A (en) * | 2015-08-24 | 2015-12-30 | 铜陵学院 | Dual-core medium-speed six-wheel little mouse exploration controller and control method thereof |
| CN205281258U (en) * | 2015-12-31 | 2016-06-01 | 浙江同筑科技有限公司 | Double -deck control system of AGV based on ARM |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| FR3079297A1 (en) * | 2018-03-23 | 2019-09-27 | Framatome | METHOD FOR DETERMINING THE POSITION AND / OR THE ORIENTATION OF A ROBOT / BEARER EVOLVING IN A PIPING AND ASSOCIATED ASSEMBLIES |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN105856235B (en) | A kind of wireless transmission six axis crawler type natural gas line robot control system of dinuclear | |
| CN105856234B (en) | A kind of axle caterpillar type high-speed natural gas line robot control system of three core two | |
| CN105881537B (en) | A kind of axle caterpillar type high-speed natural gas line robot control system of three core four | |
| CN106325287A (en) | Intelligent mower straight line walking control system based on inertial/magnetic sensor MARG attitude detection | |
| CN105856237B (en) | It is wirelessly transferred three core, four axis caterpillar type high-speed natural gas line robot control system | |
| CN106094617A (en) | It is wirelessly transferred three core eight axle caterpillar type high-speed natural gas line robot control systems | |
| CN106078734A (en) | One is wirelessly transferred dinuclear four axle crawler type natural gas line robot control system | |
| CN108873895A (en) | Drop intelligent patrol detection vehicle in road surface | |
| CN109572857A (en) | A kind of Mecanum wheel intelligent storage AGV and its paths planning method | |
| Guo et al. | Navigation and positioning system applied in underground driverless vehicle based on IMU | |
| CN105922263B (en) | A kind of six axis crawler type natural gas line robot control system of dinuclear | |
| CN105856239B (en) | A kind of axle caterpillar type high-speed natural gas line robot control system of three core eight | |
| CN105856238B (en) | Four core, six axis is wirelessly transferred the quick natural gas line robot control system of crawler type | |
| CN106078737A (en) | It is wirelessly transferred four core ten axle crawler type quick natural gas line robot control systems | |
| CN105922260B (en) | A kind of two axis crawler type natural gas line robot control system of dinuclear | |
| CN105945951B (en) | A kind of quick natural gas line robot control system of three core, eight axis crawler type | |
| CN106078735A (en) | A kind of three core six axle caterpillar type high-speed natural gas line robot control systems | |
| CN105856236B (en) | It is wirelessly transferred the quick natural gas line robot control system of four core, four axis crawler type | |
| CN106078736A (en) | One is wirelessly transferred dinuclear ten axle crawler type natural gas line robot control system | |
| CN105881539B (en) | A kind of eight axis of dinuclear is wirelessly transferred crawler type natural gas line robot control system | |
| CN106003058B (en) | A kind of four axis crawler type natural gas line robot control system of dinuclear | |
| CN105881538B (en) | A kind of quick natural gas line robot control system of three core, six axis crawler type | |
| CN105922259B (en) | A kind of quick natural gas line robot control system of axle crawler type of three core four | |
| CN105911916A (en) | Wireless-transmission three-nuclear six-axis crawler-type high speed natural gas pipeline robot control system | |
| CN106051378B (en) | A kind of eight axis crawler type natural gas line robot control system of dinuclear |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20161109 |
|
| WD01 | Invention patent application deemed withdrawn after publication |