Research On Inpipe Robot In The Vertical Pipeline With Variant Diameter And Its Control System

The studies of in-pipe robots have broad application fields and social needs.In-pipe robots can be used to oil, gas, chemical, nuclear plant, building and so on. For this reason, research of mobile robots under unstructured environment which have the characteristics of running smoothly, and adaption has great significance and research values.First, some topics of in-pipe kinetic character of pipelinerobot are analyzed and discussed deeply, including its in-pipe moving resistant, radial adjusting capability.Then Considering robot function, mechanical characteristic and control system feasibility analysis, open control system general design scheme based on PC+DSP motion control board+motion driver is confirmed. It reveals the control system in aspects of planning, servo closed loop control and amplifier in a hierarchical and modular way, and has obvious advantages on strategy-making, hierarchically assignment-controlling and real-time performance.Hardware platform is designed according to hierarchical control characteristic, including selecting control unit and designing base control system circuit.Meanwhile, design ideas of modularized software is proposed, control strategy software of PC, motion control software and RS485 communication process of DSP are designed successfully.Aiming at the robot passing through elbow pipe steering control in pipeline,Based on the analysis of resistance load characteristics,the specifics of robot independent coordinated motion control strategy in typical arc elbow pipe is presented.Finally we make experiments of the mobile robot. The experiments prove that the hardware and software is competent for the robot and the mobile robot can fill for the request of the design.