CN106078737A - It is wirelessly transferred four core ten axle crawler type quick natural gas line robot control systems - Google Patents
It is wirelessly transferred four core ten axle crawler type quick natural gas line robot control systems Download PDFInfo
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
- B25J9/161—Hardware, e.g. neural networks, fuzzy logic, interfaces, processor
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- 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)
- Automation & Control Theory (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- General Engineering & Computer Science (AREA)
- Electromagnetism (AREA)
- General Physics & Mathematics (AREA)
- Combustion & Propulsion (AREA)
- Remote Sensing (AREA)
- Chemical & Material Sciences (AREA)
- Radar, Positioning & Navigation (AREA)
- Aviation & Aerospace Engineering (AREA)
- Fuzzy Systems (AREA)
- Computer Vision & Pattern Recognition (AREA)
- Multimedia (AREA)
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- Manipulator (AREA)
Abstract
The invention discloses one and be wirelessly transferred four core ten axle crawler type quick natural gas line robot control systems, described controller uses four nuclear control devices, including ARM, IRMCK203, DSP and MC51113, described ARM, IRMCK203, DSP and MC51113 carries out communication connection by wireless device.By the way, the present invention has independently invented brand-new four nuclear control patterns based on ARM+IRMCK203+DSP+MC51113, controller is with ARM as processor core, the SERVO CONTROL of eight axle permagnetic synchronous motors is realized by IRMCK203, DSP realizes processing in real time and realizing the SERVO CONTROL of two axle direct current generators with MC51113 cooperation of image acquisition digital signal, ARM is freed in the middle of complicated work, and responds 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 four core ten axle crawler types quick
Natural gas line 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 can exploding by natural-gas of leakage, causes people more than 600
Death, hundreds of hectares of forests are burnt；In August, 2000, the gas pipeline of one the 720mm bore in the southeast, New Mexico is sent out
Raw gas explosion, causing fights the most greatly at least causes 10 people dead, and the place beyond more than 30 kilometers can be seen huge
Type fireball rushes to sky, and after blast, ground leaves long 25m, the hollow place of deep 6m together；The oil and gas pipeline of China is the most
Secondary having an accident, the accident such as pipeline generation explosion, leakage, stopping transportation not only causes huge property loss, and jeopardizes ecology
Environment.
Pipe robot is that one can carry one or more sensings along pipe interior or outside walking automatically
Device and operation machinery, or complete the electromechanics of a series of pipeline operations under the control of operator under computer controlled automatic
Integral system.The research of pipe robot starts from eighties of last century the forties, to the seventies due to microelectric technique, meter
Calculating machine technology, the development and progress of automatic technology, external pipeline robot technique has obtained fast development the beginning of the nineties, has ground
Make many experimental prototypes, and achieve substantial amounts of achievement in research.
Patrol and examine natural gas line with pipe robot, be possible not only to improve the efficiency of pipe detection, and for improving labor
Dynamic condition, reduces labor intensity, and improves working performance, reduces operating cost, guarantees personal safety and suffer from highly important meaning
Justice.But domestic the most not using pipe robot to patrol and examine natural gas line, natural gas line blast happens occasionally, and causes huge
Big economic loss and environmental pollution.
The natural gas tube pipeline robot that one performance is higher 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) wireless device: in order to find in time and the problem of process, automatic Pipeline robot must use wireless device, real
Time the image acquisition patrolled and examined of transmission 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) either based on vector controlled or servo control based on orientation on rotor flux algorithm permagnetic synchronous motor
System, in addition to carrying out coordinate transform repeatedly and inverse transformation, is also performed to the closed loop control of electric current and speed, thus realizes ratio
More complicated and requirement of real-time is higher；Use DSP technology or ARM technology and realize with software mode, system development week
Phase is long, and the processor time that this algorithm takies is the most, have impact on the process function of DSP or ARM；
(6) 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；
(7) for there being the natural gas line of obstruction, common wheeled robot is less with contact area of ground, and obstacle climbing ability is relatively
Weak, the most even cannot clear the jumps, finally cannot patrol and examine task；
(8) the most most of pipe robot, poor to the Context awareness in pipeline, is all the collection stored by post analysis
Image carrys out analysis conduit situation, and real-time condition distinguishes poor；
(9) 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；
(10) 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 the four core ten quick natural gas tubes of axle crawler type
Pipeline robot control system, has independently invented brand-new four nuclear control patterns based on ARM+ IRMCK203+DSP+ MC51113,
Controller, with ARM as processor core, is realized the SERVO CONTROL of eight axle permagnetic synchronous motors by IRMCK203, and DSP realizes image
Gather processing in real time and realize the SERVO CONTROL of two axle direct current generators with MC51113 cooperation, ARM from complexity of digital signal
Free in the middle of work, and respond DSP interrupt, it is achieved data communication and storage live signal.
For solving above-mentioned technical problem, the technical scheme that the present invention uses is: provides one and is wirelessly transferred four cores
Ten axle crawler types quick natural gas line robot control system, including battery, controller, permagnetic synchronous motor X, permanent-magnet 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 collecting unit, image storage unit, humidity collection list
Unit, based on Hall effect pipeline inspection collecting unit, wireless device and pipe robot, described battery is provided separately electric current
Controller described in driving, described controller uses four nuclear control devices, including ARM, IRMCK203, DSP and MC51113, institute
ARM, IRMCK203, DSP and the MC51113 stated carries out communication connection by wireless device, and described gathering based on ccd image is single
Unit and image storage unit are all connected with DSP and MC51113 communication, described humidity collection unit and based on Hall effect pipeline
Flaw detection collecting unit is all connected with ARM and IRMCK203 communication, and described ARM and IRMCK203 sends the first control letter respectively
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, by the first described control signal, the second control signal, the 3rd control signal, the 4th control letter
Number, the 5th control signal, the 6th control signal, the 9th control signal and the tenth control signal control described permanent-magnet synchronous respectively
Motor X, permagnetic synchronous motor Y, permagnetic synchronous motor Z, permagnetic synchronous motor R, permagnetic synchronous motor U, permagnetic synchronous motor W,
Control the motion of pipe robot after the signal syntheses of permagnetic synchronous motor J and permagnetic synchronous motor K again, described DSP and
MC51113 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 quick natural gas line robot control system is additionally provided with
Position machine program, based on ARM main motion control program, based on DSP from motion control program, based on Hall effect pipe damage detect
And be wirelessly transferred, described host computer procedure also include pipeline read, location positioning and power information, described based on ARM
Main motion controls program and also includes controlling based on IRMCK203 eight axle permagnetic synchronous motor SERVO CONTROL, data storage and I/O, institute
That states also includes based on MC51113 two axle direct current generator SERVO CONTROL from motion control program based on DSP and adopts based on DSP image
Collection, described based on the detection of Hall effect pipe damage and be wirelessly transferred respectively with based on Hall effect pipeline inspection collecting unit
Connect with wireless device communication.
In a preferred embodiment of the present invention, described quick natural gas line robot control system also includes photoelectricity
Encoder, described photoelectric encoder is separately mounted to permagnetic synchronous motor X, permagnetic synchronous motor Y, permagnetic synchronous motor Z, forever
Magnetic-synchro motor R, permagnetic synchronous motor U, permagnetic synchronous motor W, permagnetic synchronous motor J, permagnetic synchronous motor K, direct current generator A
With on direct current generator B.
The invention has the beneficial effects as follows: the present invention is wirelessly transferred four core ten axle crawler type quick natural gas tube pipeline robots
Control system, in order to improve the utilization rate of the energy and reduce robot volume, native system efficiency and power density are the highest
Permagnetic synchronous motor instead of the motor such as motor, direct current generator；In order to improve system acceleration request, system is that these are extraordinary
Operating mode adds two lower-powered permagnetic synchronous motors and plays acceleration power-assisted effect, increases system dynamic characteristic；In order to carry
The general hill climbing demands of high system, system is that these extraordinary operating modes add again two lower-powered permagnetic synchronous motors and play and climb
Slope power-assisted effect, increases system dynamic characteristic；In order to improve the requirement of system span large obstacle, system is these extraordinary works
Condition again adds two lower-powered permagnetic synchronous motors and plays obstacle detouring power-assisted effect, increases system dynamic characteristic；In order to
Improve arithmetic speed, it is ensured that the stability of automatic pipeline robot system and reliability, the present invention is in middle introducing based on ARM forever
Magnetic-synchro motor special integrated circuit IRMCK203, digital signal processor DSP and direct current generator special integrated circuit
MC51113, forms brand-new four nuclear control devices based on ARM+ IRMCK203+DSP+ MC51113, and this controller takes into full account electricity
Pond, in the effect of this system, is given the eight axle PMSM Servo Systems that workload in control system is maximum
IRMCK203 completes, two axle direct current generator servosystem give MC51113 complete, battery cell monitoring, path reading, deviation processing etc.
Give ARM process, give full play to the comparatively faster feature of ARM data processing speed, and the function such as image data acquiring and storage
Give DSP to complete, thus achieve the division of labor of ARM, IRMCK203, MC51113 and DSP, can also enter between four simultaneously
Row communication, carries out data exchange in real time and calls.
Accompanying drawing explanation
For the technical scheme being illustrated more clearly that in the embodiment of the present invention, in embodiment being described below required for make
Accompanying drawing be briefly described, it should be apparent that, below describe in accompanying drawing be only some embodiments of the present invention, for
From the point of view of those of ordinary skill in the art, on the premise of not paying creative work, it is also possible to obtain other according to these accompanying drawings
Accompanying drawing, wherein:
Fig. 1 is that the present invention is preferable with being wirelessly transferred four core ten axle crawler type quick natural gas line robot control systems one
The schematic diagram of embodiment；
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 four core ten axle crawler type quick natural gas line robot control systems, including battery, controller, forever
Magnetic-synchro motor X, permagnetic synchronous motor Y, permagnetic synchronous motor Z, permagnetic synchronous motor R, permagnetic synchronous motor U, permanent-magnet synchronous
Motor W, permagnetic synchronous motor J, permagnetic synchronous motor K, direct current generator A, direct current generator B, based on ccd image collecting unit, figure
As memory element, 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 four nuclear control devices, including ARM,
IRMCK203, DSP and MC51113, described ARM, IRMCK203, DSP and MC51113 carries out communication even by wireless device
Connecing, described is all connected with DSP and MC51113 communication based on ccd image collecting unit and image storage unit, described humidity
Collecting unit and being all connected with ARM and IRMCK203 communication based on Hall effect pipeline inspection collecting unit, described ARM and
IRMCK203 sends the first control signal, the second control signal, the 3rd control signal, the 4th control signal, the 5th control respectively
Signal, the 6th control signal, the 9th control signal and the tenth control signal, by the first described control signal, the second control letter
Number, 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 R, forever respectively
Pipe is controlled again after the signal syntheses of magnetic-synchro motor U, permagnetic synchronous motor W, permagnetic synchronous motor J and permagnetic synchronous motor K
The motion of pipeline robot, described DSP and MC51113 sends the 7th control signal and the 8th control signal respectively, by described
After the signal syntheses that 7th control signal and the 8th control signal control described direct current generator A and direct current generator B respectively with
Connect based on ccd image collecting unit communication.Wherein, described battery uses lithium ion battery；Described the first control signal,
Second control signal, the 3rd control signal, the 4th control signal, the 5th control signal, the 6th control signal, the 9th control signal
It is PWM wave control signal with the tenth 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.
IRMCK203 is surface permanent magnetic synchronous motor closed loop control IC, unlike traditional MCU or DSP scheme,
IRMCK203 is completely without programming, but uses and control engine (Motion Control Engine, MCE) based on motor
Hardware circuit realizes the Field orientable control algorithm of permagnetic synchronous motor.MCE includes pi regulator, vector calculus, Clark
All functional units needed for the closed loop controls such as conversion, all functions are realized by hardware circuit completely, therefore have quickly meter
Calculation ability and splendid dynamic property.In addition to current closed-loop and velocity close-loop control function based on velocity estimation,
IRMCK203 also have automatic must open, dephasing detection, the control for brake of band busbar voltage monitoring and various driving defencive function,
Its simulation I/O and part number I/O is configurable, and internal register can be operated by all PORT COM.With
Family can configure various driving parameter (such as: pi regulator according to the practical situation (institute's use motor and loading condition) of oneself
Parameter, current feedback scope, PWM carrier frequency etc.) and monitoring system state；IRMCK203 can coordinate realization main with MCU or PC
From pattern, it runs the instruction accepting main frame completely, and These characteristics is especially suitable for coordinating with ARM and controls the Tong Bu electricity of high-speed permanent magnetic
Machine, reduces control algolithm and takies the cycle of arm processor, increases stability and the rapidity of system.
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+MC51113 two-dimensional localization servosystem, this two-dimentional system includes direct current generator A and direct current generator B, MC5X000 series
Motion control chip is the third generation SERVO CONTROL chip that PMD company develops based on High Performance Motion Control, the most extensively applies
Application in medical treatment, science, Automated condtrol and robot.MC5X113 movement sequence control chip has four sections: wherein
MC51113 realizes the control of direct current generator, and carries out communication and data call by serial port with TMS320F2812.When DSP leads to
Cross storage image compare discovery suspicious region after, by main website by controlled in wireless direct current generator A adjust ccd image acquisition system liter
The height of fall, is then adjusted, by direct current generator B, the angle that ccd image acquisition system rotates so that the center of CCD is directed at doubtful thing
The center of body, is then analyzed suspicious region in real time by main website, finds and process this region, this region of DSP real-time storage in time
The image collected and positional information, patrol and examine pipeline interpretation of result for pipe robot and provide 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 eight rare-earth permanent-magnetic synchronous electricity
The eight wheel crawler four core natural gas tube pipeline robots that machine differential drives, the servo control algorithm of eight rare earth permanent-magnet synchronization motors
Completed by special sport control chip, increase the rapidity of system-computed, the bigger permagnetic synchronous motor X of two of which power and
Energy requirement, other six lower-powered permanent magnet synchronous electrics are provided when permagnetic synchronous motor Y patrols and examines for robot normal speed
Acc power is equal, and two small-power permagnetic synchronous motor Z therein and permagnetic synchronous motor R coordinate two bigger permanent magnet synchronous electrics
Machine X and permagnetic synchronous motor Y provides power, two small-power permagnetic synchronous motor U and permanent magnetism same when robot accelerates to patrol and examine
Step motor W coordinates permagnetic synchronous motor X, permagnetic synchronous motor Y, permagnetic synchronous motor U and permagnetic synchronous motor W to climb in robot
Slope or ascend the small-scale obstacle thing time power is provided, two small-power permagnetic synchronous motor J and permagnetic synchronous motor K coordinate forever
Magnetic-synchro motor X, permagnetic synchronous motor Y, permagnetic synchronous motor Z, permagnetic synchronous motor R, permagnetic synchronous motor U and permanent-magnet synchronous
Motor W provides power, and the merit of each motor when pipe robot long-span crossing barrier or demand power are bigger
It is optimum that rate realizes capacity usage ratio by controller, and the multiple of left and right sides take turns respectively by displacement caterpillar belt structure mechanical linkages, base
Servosystem in two axle direct current generators provides positioning function for ccd image acquisition system, and natural gas tube pipeline robot relies on it
Carry sensors carries out patrolling and examining major gas pipeline.
The present invention absorbing on the premise of external Dynamic matrix control thought, and independent research is based on ARM+ IRMCK203+DSP+
The brand-new four nuclear control patterns of MC51113.Controller principle figure such as Fig. 1 of this design: controller is with ARM as processor core
The heart, is realized the SERVO CONTROL of eight axle permagnetic synchronous motors by IRMCK203, and DSP realizes the real-time process of image acquisition digital signal
And realize the SERVO CONTROL of two axle direct current generators with MC51113 cooperation, ARM is freed in the middle of complicated work, and rings
Answer DSP interrupt, it is achieved data communication and storage live signal.
As it is shown on figure 3, described quick natural gas line robot control system be additionally provided with host computer procedure, based on
ARM main motion control program, based on DSP from motion control program, based on Hall effect pipe damage detection and be wirelessly transferred,
Described host computer procedure also includes pipeline reading, location positioning and power information, and described controls program based on ARM main motion
Also include controlling based on IRMCK203 eight axle permagnetic synchronous motor SERVO CONTROL, data storage and I/O, described based on DSP from
Motion control program also includes based on MC51113 two axle direct current generator SERVO CONTROL with based on DSP image acquisition, 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.
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 again
Two lower-powered permagnetic synchronous motors play climbing power-assisted effect, increase system dynamic characteristic；In order to improve system across
The more requirement of large obstacle, system is that these extraordinary operating modes again add two lower-powered permagnetic synchronous motors and play
Obstacle detouring power-assisted effect, increases system dynamic characteristic；In order to improve arithmetic speed, it is ensured that the stability of automatic pipeline robot system
And reliability, the present invention introduces permagnetic synchronous motor special integrated circuit IRMCK203, numeral letter in controller based on ARM
Number processor DSP and direct current generator special integrated circuit MC51113, is formed based on ARM+ IRMCK203+DSP+ MC51113
Brand-new four nuclear control devices, this controller takes into full account the battery effect in this system, maximum for workload in control system
Eight axle PMSM Servo Systems to give that IRMCK203 completes, two axle direct current generator servosystem give MC51113 complete
One-tenth, battery cell monitoring, path reading, deviation processing etc. give ARM process, give full play to ARM data processing speed comparatively faster
Feature, and the function such as image data acquiring and storage is given DSP and is completed, and thus achieves ARM, IRMCK203, MC51113
With the division of labor of DSP, communication can also be carried out between four simultaneously, carry out data exchange in real time and call.
As shown in Figure 4, for the ARM+ IRMCK203+DSP+ MC51113 tetra-nuclear control device designed herein, beat at power supply
Under open state, the battery SOC (state-of-charge) of pipe robot is first judged by ARM, if battery power is relatively low, and controller
Alarm signal can be sent；If battery power is higher, first passed through control device of wireless patrolling and examining natural gas line length by master station
Inputing to ARM with the information such as radius, then pipe robot is channeled to detect mouth, and pipe robot is introduced into self-locking shape
State, waits that inlet valve F1 opens, and after front laser displacement sensor LSF determines that valve is opened, pipe robot enters and treats
Inspection buffer area, then inlet valve F1 closes, and inlet valve F2 opens, and pipe robot enters pipe detection region；Pipeline
Image capturing system, humidity collection system and pipe damage detection device, wireless device that robot carries all are opened, pipe machine
Device people is according to setting speed along patrolling and examining route fast inspection, and ARM is input to IRMCK203 magnetic navigation sensor ME1 parameter,
Pipe robot permagnetic synchronous motor X, permagnetic synchronous motor Y, permagnetic synchronous motor Z, permanent magnetism is adjusted for bis-times together by IRMCK203
The PWM output of step motor R, permagnetic synchronous motor U and permagnetic synchronous motor W, it is achieved the real-time servo of six permanent magnet synchronous motors
Controlling, DSP realizes the location of CCD acquisition system by MC51113, and DSP real-time storage gathers image, if DSP is to patrolling and examining certain
One position has a question, will by wireless to main website send interrupt requests and with ARM communication, and by wireless device transmissions doubtful
Area image, is sent cutoff command by controlled in wireless ARM and makes pipe robot stop, and then main website is realized by wireless device
CCD secondary image gathers and fault localization, and by DSP real time record and storage.If pipe robot complete turn left or
Right-hand rotation patrols and examines subsidiary conduit when again returning to main pipeline, and ARM will open power-assisted permagnetic synchronous motor Z and permanent magnetism by IMRCK203
Synchronous motor R, IRMCK203 adjust pipe robot permanent-magnet synchronous according to magnetic navigation sensor ME1 parameter and rate request secondary
The PWM output of motor X, permagnetic synchronous motor Y, permagnetic synchronous motor Z and permagnetic synchronous motor R, it is achieved four permanent magnet synchronous electrics
The real-time servo of machine controls, and in order to reduce energy resource consumption, before returning to main channel, DSP will close the information gathering of CCD；If pipe
Pipeline robot is in the process of patrolling and examining, and three axis accelerometer, three-axis gyroscope and Digital Magnetic Compass detect that pipe robot is in and climb
Pipeline is patrolled and examined on slope, and ARM will open power-assisted permagnetic synchronous motor Z, permagnetic synchronous motor R, permagnetic synchronous motor U, permanent magnet synchronous electric
Machine W, adjusts pipe robot permagnetic synchronous motor X, permanent-magnet synchronous again according to magnetic navigation sensor ME1 parameter and rate request
The PWM output of motor Y, permagnetic synchronous motor Z, permagnetic synchronous motor R, permagnetic synchronous motor U and permagnetic synchronous motor W, it is achieved
The real-time servo of six permanent magnet synchronous motors controls；If pipe robot needs to cross over large obstacle, ARM in the process of patrolling and examining
Power-assisted permagnetic synchronous motor Z, permagnetic synchronous motor R, permagnetic synchronous motor U, permagnetic synchronous motor will be opened by IRMCK203
W, permagnetic synchronous motor J, permagnetic synchronous motor K, IRMCK203 adjusts again according to magnetic navigation sensor ME1 parameter and rate request
Homogeneous tube pipeline robot permagnetic synchronous motor X, permagnetic synchronous motor Y, permagnetic synchronous motor Z, permagnetic synchronous motor R, permanent-magnet synchronous
Motor U, permagnetic synchronous motor W, permagnetic synchronous motor J, the PWM output of permagnetic synchronous motor K, it is achieved eight permanent magnet synchronous motors
Real-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
IRMCK203 works, and eight permanent magnet synchronous motors PWM ripples are blocked, and alarm sensor by work and sends alarm signal simultaneously,
ARM sends replacing power interruptions by wireless device to master station and asks；If battery SOC is normal, pipe robot enters and treats work
Make state, wait work order；
2) master station is transferred to ARM by wireless device information such as duct length, radius and pipeline topography, the most automatically guides
Pipe robot is to the starting end of pipe detection, and for the walking in closed conduct of the precision navigation pipe robot, ARM controls
Device first turns on pipe robot inertial navigation mould based on three axis accelerometer A1, three-axis gyroscope G1 and Digital Magnetic Compass M1
Formula;
3) pipe robot ARM begins through magnetic navigation sensor ME1 and reads area navigation magnetic stripe, according to magnetic navigation sensor
The value of feedback of ME1 is compared with actual set central value, and ARM inputs to IRMCK203 this deviation, by IRMCK203 according to it
Internal SERVO CONTROL Automatic Program adjusts permagnetic synchronous motor X, permagnetic synchronous motor Y, permagnetic synchronous motor Z, permanent magnet synchronous electric
The PWM output of machine R, permagnetic synchronous motor U and permagnetic synchronous motor W, makes pipe robot fast forward through along navigation magnetic stripe, with
Time adjust the PI parameter of the internal SERVO CONTROL program of IRMCK203 in real time according to peripheral environment ARM, advanced at pipe robot
In journey, laser displacement sensor LSF in front is by work, and ARM detects distance D of pipe robot and front inlet valve F1 in real time,
Then in the range of stably stop, pipe robot automatic stopping, then original place self-locking are allowed by IRMCK203；
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 natural gas line inner case；
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, first according to the feedback of magnetic navigation sensor ME1, reads pipe robot actual
Positional information, three axis accelerometer A1, three-axis gyroscope G1 and the numerical value of Digital Magnetic Compass M1, and compared with setting position
Relatively, determine that pipe robot off-center distance and the angle of inclination, this deviation signal of ARM input to IRMCK203,
The PWM ripple that IRMCK203 obtains two permanent magnet synchronous motors X and permagnetic synchronous motor Y according to its internal SERVO CONTROL program controls
Signal, and adjust pipe robot attitude in real time by drive circuit, make pipe robot stable operation at magnetic stripe immediate vicinity,
The PI parameter of the internal SERVO CONTROL program of IRMCK203 is adjusted in real time according to peripheral environment ARM；If master station is adopted by feedback
Collection image finds that pipe robot deviate from navigation track by a relatively large margin, will be by control device of wireless preferential Calibration pipe machine
The attitude of people；The air line distance that ARM real time record robot has run, the distance correction sensor S moment detects ground and revises
Mark, once reads correcting device, and the positional distance information of ARM record to be as the criterion to revise the positional information of mark, eliminates
The pipe robot site error caused when walking, if pipe robot has misread ground correction in the process of walking
Mark, the positional information of pipe robot by radio transmitting device and ARM communication, and will be revised automatically by main website；
6) after pipe robot enters detection region, if ARM is found at pipe robot by the feedback of three-axis gyroscope G1
State is patrolled and examined, in order to ensure that pipe robot can complete to patrol and examine pipeline task according to command speed, according to system speed in climbing
Degree and acceleration requirement, first ARM calculates climbing power demand, and IRMCK203 combines current of electric, photoelectric encoder, three axles
Accelerometer A1, three-axis gyroscope G1 and the feedback of Digital Magnetic Compass M1, real-time adjustment pipe robot permagnetic synchronous motor X,
The PWM control of permagnetic synchronous motor Y, permagnetic synchronous motor Z, permagnetic synchronous motor R, permagnetic synchronous motor U and permagnetic synchronous motor W
Signal processed, makes pipe robot meet constant speed and patrols and examines requirements for pipes；In climbing detection process, ARM is according to magnetic navigation sensor
The feedback of ME1, reads the actual positional information of pipe robot, three axis accelerometer A1, three-axis gyroscope G1 and numeral magnetic sieve
The numerical value of dish M1, and compared with setting position, determine pipe robot off-center distance and the angle of inclination, IRMCK203
In conjunction with current of electric feedback, photoelectric encoder feedback, three axis accelerometer A1, three-axis gyroscope G1 and Digital Magnetic Compass M1
Feedback, obtains the PWM wave control signal of six permanent magnet synchronous motors according to its internal three Close loop servo control programs, and by driving
Galvanic electricity road adjusts pipe robot attitude in real time, make pipe robot stable operation at magnetic stripe immediate vicinity, if master station passes through
The collection image of feedback finds that pipe robot deviate from navigation track by a relatively large margin, preferentially will be corrected by control device of wireless
The attitude of pipe robot；The air line distance that ARM real time record robot have run, the distance correction sensor S moment examines
Mark is revised in geodetic face, once reads correcting device, and the positional distance information of ARM record will be to revise the positional information of mark
It is as the criterion, eliminates the pipe robot site error caused when walking, when ARM is by three axis accelerometer A1, three axle tops
Spiral shell instrument G1 and Digital Magnetic Compass M1 finds that pipe robot is complete climbing action entrance and normally patrols and examines environment, and IRMCK203 seals
Lock permagnetic synchronous motor Z, permagnetic synchronous motor R, permagnetic synchronous motor U and the pwm control signal of permagnetic synchronous motor W, make be
System enters permagnetic synchronous motor X and permagnetic synchronous motor Y driving condition；
7) after pipe robot enters normal detection region, if pipe robot 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；IRMCK203 is according to system speed and acceleration requirement, 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 stop in distance R, and then IRMCK203 combines
The feedback of three-axis gyroscope G1 makes pipe robot rotate in place left 90 degree, and pipe robot enters left turnout and cruises；?
In the detection process of left turnout, the front laser displacement sensor LSF moment opens and detects doubtful tamper and detects with front eventually
The distance of point；ARM is according to the feedback real time record forward travel distance of front laser displacement sensor LSF, and at distance turnout terminal
Front effective range Nei Shi robot effectively stops, and robot is at three axis accelerometer A1, three-axis 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 fast
Speed returns in main pipeline, and IRMCK203 opens power-assisted permagnetic synchronous motor Z and permagnetic synchronous motor R, makes system enter and accelerates
Return state；In whole return course, IRMCK203 is according to system speed and acceleration requirement, in conjunction with current of electric, photoelectricity
Encoder, three axis accelerometer A1, three-axis gyroscope G1 and the feedback of Digital Magnetic Compass M1, adjust pipe robot permanent magnetism in real time
Synchronous motor X, permagnetic synchronous motor Y, permagnetic synchronous motor Z and the pwm control signal of permagnetic synchronous motor R, make pipeline machine
People can speed up and returns to main pipeline along landing ground magnetic stripe；Entering after normally patrolling and examining environment, IRMCK203 blocks permagnetic synchronous motor
Z, the pwm control signal of permagnetic synchronous motor R, make system enter permagnetic synchronous motor X and permagnetic 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；IRMCK203 is according to system speed and acceleration requirement, 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 stop in distance R, and then IRMCK203 combines
The feedback of three-axis gyroscope G1 makes pipe robot rotate in place right 90 degree, and pipe robot enters right turnout and cruises；?
In the detection process of right turnout, the front laser displacement sensor LSF moment opens and detects doubtful tamper and detects with front eventually
The distance of point；ARM is according to the feedback real time record forward travel distance of front laser displacement sensor LSF, and at distance turnout terminal
Front effective range Nei Shi robot effectively stops, and robot is at three axis accelerometer A1, three-axis gyroscope G1 and Digital Magnetic Compass
M1 rotates in place 180 degree and prepares to return to main channel under controlling；Owing to right turnout has been patrolled and examined complete, in order to make pipe robot fast
Speed returns in main pipeline, and IRMCK203 opens power-assisted permagnetic synchronous motor Z and permagnetic synchronous motor R, makes system enter and accelerates
Return state；In whole return course, IRMCK203 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 in real time
Permagnetic synchronous motor X, permagnetic synchronous motor Y, permagnetic synchronous motor Z and the pwm control signal of permagnetic synchronous motor R, make pipeline
Robot can speed up and returns to main pipeline along landing ground magnetic stripe；Entering after normally patrolling and examining environment, IRMCK203 blocks permanent-magnet synchronous
Motor Z, the pwm control signal of permagnetic synchronous motor R, make system enter permagnetic synchronous motor X and permagnetic synchronous motor Y and drive shape
State；
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；IRMCK203 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, adjust pipe robot permagnetic synchronous motor X and permanent-magnet synchronous in real time
The pwm control signal of motor Y, makes pipe robot enter right turnout and cruises, and ARM is according to front laser displacement sensor
The feedback real time record forward travel distance of LSF, and make pipe robot effectively stop in effective range before the terminal of distance turnout, pipe
Pipeline robot rotates in place 180 degree under three axis accelerometer A1, three-axis gyroscope G1 and Digital Magnetic Compass M1 control and returns main
Passage, IRMCK203 opens power-assisted permagnetic synchronous motor Z and permagnetic synchronous motor R, makes system enter four-wheel and accelerates return state；
When the feedback of right laser displacement sensor LSR and left laser displacement sensor LSL occurs that higher magnitude changes, pipe machine is described
Device people comes into cross mouth position, and now ARM starts to revise the error of robot ambulation, it is ensured that pipe robot positional distance
Information is correct, when the feedback of right laser displacement sensor LSR and left laser displacement sensor LSL occurs that higher magnitude changes again
Time, illustrate that pipe robot comes into left fork pipeline, now ARM starts to revise the error of robot ambulation, it is ensured that pipe
Pipeline robot positional distance information is correct, and IRMCK203, according to system speed and acceleration requirement, compiles in conjunction with current of electric, photoelectricity
Code device, three axis accelerometer A1, three-axis gyroscope G1 and the feedback of Digital Magnetic Compass M1, adjust pipe robot permanent magnetism same in real time
Step 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 side laser displacement sensor LSF, and make pipeline in effective range before the terminal of distance turnout
Robot effectively stops, and pipe robot is former under three axis accelerometer A1, three-axis gyroscope G1 and Digital Magnetic Compass M1 control
Ground rotation turnback returns to main channel, and IRMCK203 opens power-assisted permagnetic synchronous motor Z and permagnetic synchronous motor R, makes system enter
Four-wheel accelerates return state；When higher magnitude occurs in the feedback of right laser displacement sensor LSR and left laser displacement sensor LSL
During change, illustrating that pipe robot has returned to cross mouth position, ARM starts to revise the error of pipe robot walking, it is ensured that
Pipe robot positional distance information is correct, and controller is walked by pipe robot and is steadily parked in crossroad after a segment distance,
Then it turn 90 degrees in three axis accelerometer A1, three-axis gyroscope G1 and Digital Magnetic Compass M1 control bottom left and come back to main pipeline inspection
Survey region；
10) if pipe robot in normal motion by external interference or run into magnetic stripe and rupture, magnetic navigation passes
Sensor ME1 cannot read ground magnetic strip information, and now ARM will be by control device of wireless and master station's communication, right laser displacement
Sensor LSR and left laser displacement sensor LSL open work, the two by the distance input that records to ARM controller, controller
Obtaining off-centered position compared with setting value, this deviation signal is inputed to IRMCK203 by ARM, and IRMCK203 is according to it
Internal SERVO CONTROL program obtains the PWM wave control signal of two permanent magnet synchronous motors X and permagnetic synchronous motor Y, and by driving
Galvanic electricity road adjusts pipe robot attitude in real time, makes pipe robot stable operation near pipeline planar central.According to periphery
Environment ARM adjusts the PI parameter of the internal SERVO CONTROL program of IRMCK203 in real time；It is straight that ARM real time record robot has run
Linear distance, the distance correction sensor S moment detect ground revise mark, once read correcting device, ARM record position distance
Information to be as the criterion to revise the positional information of mark, eliminates site error during robot ambulation, if pipe robot is expert at
Having misread ground during walking and revised mark, pipeline machine by radio transmitting device and ARM communication, and will be revised automatically by main website
The positional information of people；
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 by IRMCK203；DSP is by the internal three closed-loop direct servo control processing procedures of MC51113
Sequence adjusts the CCD position, output location of direct current generator A and direct current generator B, makes ccd image gather center and is directed in doubtful image
The heart, CCD secondary acquisition duct size information is also by radio transmitting device real-time Transmission, and main website analyzes this suspicious region, DSP bis-in real time
This image of secondary storage, doubtful be disposed after controlled in wireless reopen pipe robot, permanent magnetism opened by IRMCK203 controller
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, IRMCK203 block permagnetic synchronous motor Z and the pwm control signal of permagnetic synchronous motor R, make pipeline
Robot be in permagnetic synchronous motor X and permagnetic synchronous motor Y two axle driving conditions and along pipeline navigation marker continue before
OK；
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 ARM is by the internal servo of IRMCK203
The PWM wave control signal of control program active accommodation two permanent magnet synchronous motors X and permagnetic synchronous motor Y, reduces pipeline machine
The speed of people makes it at a slow speed by doubt region, adjusts the internal SERVO CONTROL of IRMCK203 in real time according to peripheral environment ARM
The PI parameter of program；ARM sends interrupt requests to DSP immediately simultaneously, DSP make an immediate response ARM interrupt, inside MC51113
Three closed-loop direct SERVO CONTROL programs adjust the output of motor A and motor B makes it position CCD position, makes ccd image gather center
Being directed at doubtful water images center, and strengthen the comparison of aqueous water in CCD pipeline collection information, DSP stores the steam in this region and doubts
Like image and actual position information, and by radio transmitting device real-time Transmission, main website analyzes this suspicious region in real time, confirms nothing
After Wu, DSP stores this image and positional information for bis-times, and then ARM is restarted by wireless device in main website, controls pipe robot and continues
Continuous move ahead, after by suspicious region, ARM Yu IRMCK203 communication, IRMCK203 controller unlatching permagnetic synchronous motor X, forever
Magnetic-synchro motor Y, permagnetic synchronous motor Z and permagnetic synchronous motor R make robot be in boost phase, after reaching setting speed
IRMCK203 controller block permagnetic synchronous motor Z and the pwm control signal of permagnetic synchronous motor R, make robot be in permanent magnetism
The two axle driving conditions of synchronous motor X and permagnetic synchronous motor Y also continue to move ahead along pipeline navigation marker；
13) in pipe robot motor process, the front laser displacement sensor LSF moment opens, and ARM processes front orientation in real time
Confidence ceases, and when having anomalies in conduit running front, front laser displacement sensor LSF probe value will appear from exception, ARM with
IRMCK203 communication, and same by the internal SERVO CONTROL program active accommodation two permanent magnet synchronous motors X of IRMCK203 and permanent magnetism
The PWM wave control signal of step motor Y, the speed reducing pipe robot makes it drive towards at a slow speed barrier, according to peripheral environment ARM
Adjust the PI parameter of the internal SERVO CONTROL program of IRMCK203 in real time；ARM sends interrupt requests to master station and DSP immediately simultaneously,
The DSP ARM that makes an immediate response interrupts, and adjusts direct current generator A and direct currents by the internal three closed-loop direct SERVO CONTROL programs of MC51113
The output of motor B makes it position CCD position, makes ccd image gather center and is directed at doubtful obturator picture centre, and CCD adopts for bis-times
Collection duct size information also passes through radio transmitting device real-time Transmission, and main website analyzes this suspicious region in real time, and DSP stores the stifled of this region
Fill in doubtful image and actual position information, owing to this pipe robot designed is many wheel crawlers structure, so ARM controls
Pipe robot can be by clearing the jumps and can continue to move ahead；ARM calculates obstacle detouring demand according to image feedback result
Power, then pipe robot opens permagnetic synchronous motor X, permagnetic synchronous motor Y, permanent magnet synchronous electric by IRMCK203 simultaneously
Machine Z, permagnetic synchronous motor R, permagnetic synchronous motor U, permagnetic synchronous motor W, permagnetic synchronous motor J and permagnetic synchronous motor K, with
Time right laser displacement sensor LSR and left laser displacement sensor LSL open as pipe robot across obstacle location positioning
Thering is provided navigation foundation, after by suspicious region, IRMCK203 closedown permagnetic synchronous motor Z, permagnetic synchronous motor R, permanent magnetism are same
Step motor U, permagnetic synchronous motor W, permagnetic synchronous motor J and the driving signal of permagnetic synchronous motor K, make pipe robot be in
The two axle driving conditions of permagnetic synchronous motor X and permagnetic synchronous motor Y also continue to move ahead along pipeline navigation marker；
14) in pipe robot motor process, pipeline inspection sensor based on Hall effect is by work, when before conduit running
Side's probe value occurs abnormal, ARM Yu IRMCK203 communication, and by the internal SERVO CONTROL program active accommodation two of IRMCK203
The PWM wave control signal of permagnetic synchronous motor X and permagnetic synchronous motor Y, the speed reducing pipe robot makes it drive towards at a slow speed
Pipe damage suspicious region, adjusts the PI parameter of the internal SERVO CONTROL program of IRMCK203 in real time according to peripheral environment ARM；Simultaneously
ARM sends interrupt requests to master station and DSP immediately, and the DSP ARM that makes an immediate response interrupts, and by internal three closed-loop direct of MC51113
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, DSP storage finds doubtful pipe damage image, and as do not found pipe damage image, it is actual that DSP will record suspicious lesion
Positional information, and labelling outer damage, after by suspicious region, ARM Yu IRMCK203 communication, it is same that IRMCK203 opens permanent magnetism
Step motor X, permagnetic synchronous motor Y, permagnetic synchronous motor Z and permagnetic synchronous motor R make pipe robot be in boost phase, when
Reach IRMCK203 block permagnetic synchronous motor Z and the pwm control signal of permagnetic synchronous motor R after setting speed, make pipe machine
Device people 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；
15) if pipe robot passes through right laser displacement sensor LSR and left laser position by ARM in normal motion
The feedback of displacement sensor LSL finds that when pipe robot is in non-equal diameter pipe, controller will give up magnetic navigation sensor ME1
Feedback information, the distance recorded is inputed to ARM by right laser displacement sensor LSR and left laser displacement sensor LSL in real time
Controller, then controller obtains off-centered position compared with setting value, and this deviation signal is inputed to by ARM
IRMCK203, IRMCK203 obtain the PWM wave control signal of two permanent magnet synchronous motors according to its internal SERVO CONTROL program, and
Adjusted pipe robot attitude by drive circuit in real time, make pipe robot stable operation near pipeline planar central.As
Really by the collection image of feedback, master station finds that pipe robot deviate from navigation track by a relatively large margin, will be filled by controlled in wireless
Put the attitude of preferential Calibration pipe robot；The internal SERVO CONTROL program of IRMCK203 is adjusted in real time according to peripheral environment ARM
PI parameter；The air line distance that ARM real time record pipe robot has run, the distance correction sensor S moment detects ground and repaiies
Just indicating, once read correcting device, ARM record position range information to be as the criterion to revise the positional information of mark, eliminates
Site error during pipe robot walking；
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 according to these range informations by ARM
X, permagnetic synchronous motor Y, distance, speed and acceleration that permagnetic synchronous motor Z, permagnetic synchronous motor R are to be run, ARM
Obtain position error signal in conjunction with current of electric feedback, photoelectric encoder feedback and the feedback of ground magnetic stripe, ARM with
IRMCK203 communication, and by the PWM ripple control of internal SERVO CONTROL program active accommodation six permanent magnet synchronous motors of IRMCK203
Signal processed, makes pipe robot quickly move ahead according to setting speed, adjusts in real time inside IRMCK203 according to peripheral environment ARM and watches
Take the PI parameter of control program；
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 feeds back according to pipeline magnetic bar navigation mark, right laser displacement sensor LSR
With the feedback of left laser displacement sensor LSL, adjust permagnetic synchronous motor X and the speed of permagnetic synchronous motor Y, pipe machine in real time
Device people starts to patrol and examine from new position；
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
Photoelectricity on machine U, permagnetic synchronous motor W, permagnetic synchronous motor J, permagnetic synchronous motor K, direct current generator A and direct current generator B is compiled
Code device can export its position signalling A and position signalling B, and position signalling A pulse and the B pulsed logic state of photoelectric encoder often become
Change once, ARM(or DSP) in location register can add 1 according to the traffic direction of each motor or subtract 1；Photoelectric coding
When the position signalling A pulse of device and B pulse and Z pulse are low level simultaneously, just produce an INDEX signal to ARM(or DSP)
Internal register, the absolute position of record permagnetic synchronous motor, it is then convert into pipe robot in pipe detection system
Particular location；
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
The internal three closed loop servo-control system programs of IRMCK203 adjust the PWM output of permagnetic synchronous motor X and permagnetic synchronous motor Y,
Pipe robot drives towards exit with slower speed under controlled in wireless, it is ensured that 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 orientation on rotor flux, and therefore IRMCK203 can be easy to mend
Repay 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 determine outlet valve F3 in open mode, pipe robot will open cruise mode, control
The distance that device ARM real time record pipe robot has moved along magnetic stripe, when determining that pipe robot is treated completely into outlet
Behind inspection region, outlet valve F3 will close, and natural gas aspirator is by aspirating the natural gas situation in region to be checked, when natural diarrhea due to stagnation of QI
Dew device is not detected by region to be checked when having natural gas to remain, and outlet valve F4 will open, now front laser displacement sensor
Secondary is judged the state of front exit valve F4 by LSF, determine front valve open errorless after, pipe robot roll away from detection pipe
Road, returns to detect terminal, waits next sense command.
The invention have the advantages that:
1: in pipe robot motor process, take into full account battery effect in this system, based on ARM+
Its state is all being monitored and computing by the IRMCK203+DSP+ MC51113 tetra-nuclear control device moment, has both avoided due to greatly
Current discharge and the generation of lithium ion battery overaging phenomenon that causes, can effectively predict again the energy of battery, for pipeline
Robot patrols and examines to provide and is effectively ensured；
2: by IRMCK203 process eight permagnetic synchronous motors of pipe robot based on rotor field-oriented SERVO CONTROL and
MC51113 processes the SERVO CONTROL of two direct current generators so that controls fairly simple, substantially increases arithmetic speed, solves
Control algolithm takies ARM and dsp operation cycle longer problem, shortens the construction cycle short, and program transportability ability is strong；
3: the present invention realizes full SMD components material substantially, it is achieved that veneer controls, and not only saves panel and takes up room,
And beneficially the alleviating of pipe robot volume and weight；
4: it is conventional that the pipe robot navigation system of the present invention uses permagnetic synchronous motor to instead of in conventional machines people's system
Motor, direct current generator, DC brushless motor, due to its small volume, efficiency is higher so that pipe robot volume is permissible
Reducing further, energy utilization rate is greatly improved；
5: owing to permagnetic synchronous motor uses based on orientation on rotor flux so that speed adjustable range is relatively wide, contrast of regulating speed is put down
Surely, even if the pulsating torque at low-speed stage motor is the least, the dynamic property of beneficially raising system；
6: owing to this controller uses DSP to process figure collection and the mass data of storage and algorithm, IRMCK203 process eight
Axle permagnetic synchronous motor and MC51113 process the SERVO CONTROL of two axle direct current generators, ARM and DSP from hard work amount
Freeing, effectively prevent " race flies " of program, capacity of resisting disturbance is greatly enhanced；
7: in the controlling, ARM and dsp controller can adjust two axle permanent magnet synchronous electrics according to robot periphery ruuning situation in good time
Machine and direct current generator servo-controlled PI parameter, 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 find the existence of pipeline water droplet；
9: equipped with image capturing system on pipe robot, the abnormal feelings such as pipe interior corrosive pipeline can be detected easily
Condition, and effectively store its image；
10: 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 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；
13: the addition of three-axis gyroscope G1 can effectively detect the angle of inclination of pipe robot deviation pipeline plane, ARM controller
Moment this angle can be adjusted, effectively control the attitude of pipe robot；
14: the addition of magnetic navigation sensor and laser displacement sensor makes system navigation have certain redundancy, greatly carries
The high stability of pipe robot, 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 robot effectively to pass through
There is 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；
19: 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 20: 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；
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, ARM can the moment this angle is detected, and effectively open multiple assist motor for pipe
Pipeline robot 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
Three axis accelerometer A1, speed and the direction skew that people occurs at line navigation, leads for robot inertia in complicated pipeline
Boat improves reliable basis.
To sum up telling, the present invention is wirelessly transferred four core ten axle crawler type quick natural gas line robot control systems,
In order to improve the utilization rate of the energy and reduce the permanent magnet synchronous electric that robot volume, native system efficiency and power density are the highest
Machine 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 play acceleration power-assisted effect, increase system dynamic characteristic；General in order to improve system
Hill climbing demands, system is that these extraordinary operating modes add again two lower-powered permagnetic synchronous motors and play climbing power-assisted and make
With, increase system dynamic characteristic；In order to improve the requirement of system span large obstacle, system is that these extraordinary operating modes add again
Enter two lower-powered permagnetic synchronous motors and played obstacle detouring power-assisted effect, increase system dynamic characteristic；In order to improve computing
Speed, it is ensured that the stability of automatic pipeline robot system and reliability, the present invention introduces permanent magnetism in controller based on ARM
Synchronous motor special integrated circuit IRMCK203, digital signal processor DSP and direct current generator special integrated circuit
MC51113, forms brand-new four nuclear control devices based on ARM+ IRMCK203+DSP+ MC51113, and this controller takes into full account electricity
Pond, in the effect of this system, is given the eight axle PMSM Servo Systems that workload in control system is maximum
IRMCK203 completes, two axle direct current generator servosystem give MC51113 complete, battery cell monitoring, path reading, deviation processing etc.
Give ARM process, give full play to the comparatively faster feature of ARM data processing speed, and the function such as image data acquiring and storage
Give DSP to complete, thus achieve the division of labor of ARM, IRMCK203, MC51113 and DSP, can also enter between four simultaneously
Row communication, carries out data exchange in real time and calls.
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 four core ten axle crawler type quick natural gas line robot control systems, it is characterised in that include
Battery, controller, permagnetic synchronous motor X, permagnetic synchronous motor Y, permagnetic synchronous motor Z, permagnetic synchronous motor R, permanent-magnet 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 scheme
As collecting unit, image storage unit, humidity collection unit, based on Hall effect pipeline inspection collecting unit, wireless device with
And pipe robot, described battery is provided separately the controller described in electric current driving, and described controller uses four nuclear control
Device, including ARM, IRMCK203, DSP and MC51113, described ARM, IRMCK203, DSP and MC51113 pass through wireless device
Carrying out communication connection, described is all connected with DSP and MC51113 communication based on ccd image collecting unit and image storage unit,
Described humidity collection unit and being all connected with ARM and IRMCK203 communication based on Hall effect pipeline inspection collecting unit, institute
ARM and IRMCK203 stated send respectively the first control signal, the second control signal, the 3rd control signal, the 4th control signal,
5th control signal, the 6th control signal, the 9th control signal and the tenth control signal, by the first described control signal,
Two control signals, the 3rd control signal, the 4th control signal, the 5th control signal, the 6th control signal, the 9th control signal and
Tenth control signal controls described permagnetic synchronous motor X, permagnetic synchronous motor Y, permagnetic synchronous motor Z, permanent-magnet synchronous respectively
After the signal syntheses of motor R, permagnetic synchronous motor U, permagnetic synchronous motor W, permagnetic synchronous motor J and permagnetic synchronous motor K
Controlling the motion of pipe robot again, described DSP and MC51113 sends the 7th control signal and the 8th control signal respectively,
The signal being controlled described direct current generator A and direct current generator B by the 7th described control signal and the 8th control signal respectively closes
It is connected with based on ccd image collecting unit communication after one-tenth.
Quick natural gas line robot control system the most according to claim 1, it is characterised in that described battery is adopted
Use lithium ion battery.
Quick natural gas line robot control system the most according to claim 1, it is characterised in that the first described control
Signal processed, the second control signal, the 3rd control signal, the 4th control signal, the 5th control signal, the 6th control signal, the 9th
Control signal and the tenth control signal are PWM wave control signal.
Quick natural gas line robot control system the most according to claim 1, it is characterised in that described ARM adopts
Use STM32F746；Described DSP uses TMS320F2812.
Quick natural gas line robot control system the most according to claim 1, it is characterised in that described pipe machine
Device people include robot housing, front laser displacement sensor, magnetic navigation sensor, left fork sensor, right fork sensor,
Digital Magnetic Compass, three axis accelerometer, three-axis gyroscope and Timing Belt, described front laser displacement sensor is respectively mounted
In the front end of robot housing, described left fork sensor and right fork sensor lay respectively at front laser displacement sensor
Lower section two ends, left and right, described Timing Belt be separately positioned on robot housing limit, the left and right sides and respectively with permanent magnet synchronous electric
Machine X, permagnetic synchronous motor Y, permagnetic synchronous motor Z, permagnetic synchronous motor R, permagnetic synchronous motor U, permagnetic synchronous motor W, forever
Magnetic-synchro motor J and permagnetic synchronous motor K connects, described magnetic navigation sensor, Digital Magnetic Compass, three axis accelerometer and three
Axle gyroscope is successively set on robot housing and respectively between permagnetic synchronous motor X and permagnetic synchronous motor Y, described
Direct current generator A and direct current generator B be arranged on robot housing and lay respectively at left fork sensor and right fork sensing
The top of device, described wireless device is positioned at the rear end of robot housing.
Quick natural gas line robot control system the most according to claim 5, it is characterised in that described laser position
Displacement sensor includes front laser displacement sensor, left laser displacement sensor and right laser displacement sensor, described front
Laser displacement sensor is arranged on the centre position of robot housing dead ahead, described left laser displacement sensor and right laser
The most angularly disposed two ends, left and right at robot housing dead ahead of displacement transducer.
Quick natural gas line robot control system the most according to claim 5, it is characterised in that described Timing Belt
Use eight axle eight wheel drive mode, be closed ring crawler belt and the corresponding belt wheel institute being provided with equidistant tooth by an inner peripheral surface
Composition.
Quick natural gas line robot control system the most according to claim 1, it is characterised in that described quick sky
So feed channel robot control system be additionally provided with host computer procedure, control program based on ARM main motion, based on DSP 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 also includes based on IRMCK203 eight axle permanent-magnet synchronous based on ARM main motion control program
The storage of motor servo control, data and I/O control, and described also includes based on MC51113 two from motion control program based on DSP
Axle direct current generator SERVO CONTROL and based on DSP image acquisition, described based on the detection of Hall effect pipe damage be wirelessly transferred
It is connected with based on Hall effect pipeline inspection collecting unit and wireless device communication respectively.
Quick natural gas line robot control system the most according to claim 1, it is characterised in that described quick sky
So feed channel robot control system also includes that photoelectric encoder, described photoelectric encoder are separately mounted to 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
On synchronous motor J, permagnetic synchronous motor K, direct current generator A and direct current generator B.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610409060.8A CN106078737A (en) | 2016-06-13 | 2016-06-13 | It is wirelessly transferred four core ten axle crawler type quick natural gas line robot control systems |
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| WO2018137084A1 (en) * | 2017-01-24 | 2018-08-02 | 深圳双创科技发展有限公司 | Robot participation-based gas leak management system and method |
| CN114310835A (en) * | 2021-12-23 | 2022-04-12 | 深圳市普渡科技有限公司 | Robot, robot pile aligning method and storage medium |
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