Control And Communication System Of Inpipe Robot & Pipe Inspection

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 cleaning,inspection. In-pipe robots technique is a practical application project which is composed of nondestructive examination technique (NDT), robot, computer science, data analysis and processing. It is a high integration of actuators, driving devices, sensor, controllers, power supplies and computers.In this paper, we studied the development of the in-pipe robots home and abroad , and realized the existed problem, and the need of in-pipe robots. We deeply studied the robot's main body, control and communication system, machine vision module , capacitance sensor module in order to inspect the pipe's state.The main research works in this paper are shown as follows:1. Based on consulting and mastering a large amount of correlative literature about in-pipe robots , the paper studies systematically on the pipe inspection robot's motion principle, driving model and structure form, discusses the key technology in the design process of in-pipe robots control and communication system . Different actuators are analyzed in this paper, the merits and drawbacks are also comparative studied. The key problems which must be taken into account in the design process of in-pipe robots control and communication system are also pointed out.2. A micro-controller based on AT89C52 and LM18200 is presented in the paper. With the help of the motion controller it not only simplifies the design of the hardware and software of the control system but also enhances its reliability and performance. It has also a goods elf-adaptability. The Stall problem of the motor is also solved effectively . The paper introduces the design of the hardware and the related development of the software. All programs are written in form of module, which will do great advantage to the software's debugging and updating. The flow charts of principal modules and electrical schemes are presented in the paper.3. In this paper, we introduced video module and analyzed the NDT. We conformed the project of NDT based on capacitance sensor, and studied the key technique on capacitance sensor's collection, coprocessing and driver circuits .