| At present, small-scaled underwater creeping detecting robot has become a topic of general interest to researchers in many countries. This paper put forward a new model of it, concentrating on solving the problem of structure design and problems about hermetic sealing mode, choice of dynamo drive, such as type and long range signal transmission on long range control.. But say currently domestic related underwater creeping robot because of volume still more big, can't work in smaller pipe, but along with local pit electricity industry of development, will lately set up a great deal of pit electricity station, but because of its reaction pile space narrow and small and pit radiate, make to adopt before of manual inspection fettle of method the question meet more and more. Therefore develop progress to check operation in the special environment and have in the large container and the pipe and change to anticipate inside pond and press housing bottom etc. the foreign body of the region take out capability of underwater small scaled creeping the robot have full important meaning.In view of the Architecture of Wheeled Mobile Robot, this paper emphasizes on the design of hardware and software platform based on control system. Firstly, A whole control model is given after analyzing the wheeled structure with nonholonomic constraints and the model of DC servo-motor building. Secondly, We develop a motion control system using AT90S8515 microcontroller. A closed Pulse Width Modulation(PWM) regulating speed system for DC servo-motor is presented, it is composed of AVR microcontroller,PWM power driver, unit of speed detection using encoder and a serial communication interface, etc. Fuzzy PID algorithm is employed to control the speed and position of WMR. The method can solve effectively some problems such as the uncertainty of WMR's model,the varieties demand, the change of situation. Program is wrote in ICGAVR C language and debugged in AVR Studio with ICE200 simulator. The control system of wheeled mobile robot has good performance. Simulated result and practical performance both approve the validity of design. At last, we study on robot path planning for an approach to This kind of robot can be widely applied in the situations which are dangerous or inconvenient for human beings, such as pipe inspection of nuclear power reactor overhaul and underwater farming, archaeological studies, mineral exploring, shipping, underwater project inspection and so on. Therefore, it will be widely applied in the future. |
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