Control Technology Of The Sewer Pipe Robot

For many years, the problem of sewer_pipe's specking , repairing and dredging has been shown in citizen's daily lives and industrial produce, the main problems are the sewer pipes buried in earth, the percentage of impurity of sewage water high, visibility on the bottom of sewage water poor, common measure unuseful, manual and mechanical methods inconvenient to chick and repair. In this paper, there is a convenient and feasible method, with the method, we have produce a robot for sewer pipe's checking and repairing, and the robot will bring well economical benefit, has good applied prospectIn this paper, because of the special environment in which the sewer robot works, first, we establish the design target of mechanical structure, complete the robot s total structure layout. After analyzing the total structure and environmental data, we use modularize ways to design the robot s structure, through analyzing the work theory of every functional module, we make the robot's mechanical structure more reasonable.After analyzing the transmission of the drive system, establishing mathematic model of drive system, simulating in MatLab, we get the simulate data of robot drive system. The data show that the drive system has the characteristic of strong anti_jamming and good stability, and we establish PID controller model for drive system, design speed and position close loop controller with good control properties.The robot's hardware includes Senion Computer System(SCS) and Junion Computer System(JCS). The hardware of SCS includes ATmegal6L singlechip, LCD display, and keyboard ect; The hardware of JCS includes ATmega8L singlechip, obliquity sensor, LCD display, motor driver model and encoder ect; and we design the corresponding circuit for total hardware system, use RS—485 serial communication between JCS and SCS, wire_controller.