Research On "Dragon Of Puncturing Mud" Robot's Examine And Control System

"Dragon of puncturing mud" robot is a kind of device that can walk by itself in the mud. It is controlled by the computer following the scheduled track to enter into the mud, changes the direction to avoid the obstacles, corrects the errors and comes out of the mud from the destined spot finally. So under the mud it can mainly used to pave PE or PVC pipe, cable and optical fiber cable, etc. As one of special type work robots, "dragon of puncturing mud" robot has a great future in the aspects of paving underground pipe adopting the no-drill technology.The research works are supported by "dragon of puncturing mud" robot sample making of The Heilongjiang Science Technology Project in this paper. According to the particular case of mud environment, the paper studies the related key technologies, including the collectivity structure, the detecting and controlling system, the location-pose detecting system, the error analysis and compensation, etc.The author introduces the domestic and foreign developing situation of gasses impact moles and drilling bore radio-detection, analyses the detecting device's developing situation of the gasses impact moles whose trace can be controlled."Dragon of puncturing mud" robot collectivity project that turning moment is brought at robot reality is devised after analyzing the model construction project of small diameter underground pipe construction at home and abroad.By the analysis and research of detecting and controlling structure for "Dragon of puncturing mud" robot, the several key problems in the course of connection established between detecting and controlling system has been solved, contemporaneously the method of adopting multi-sensor to detect robot' location and pose under the mud has been brought forward. The hardware circuit of photoelectric detecting device also has been designed which has the perfect result and provides new condition for the farther research of "Dragon of puncturing mud" robot.The error's sort and source of "Dragon of puncturing mud" robot's location-pose detecting system have been discussed, analyzed and researched at...