Study And Design Of The Controlled System Of Sewage Pipe Robot Based On S3C44B0X And VxWorks

After municipal sewage pipelines have been used for a few years, they have always different problems. The traditional ways of detecting the sewage tubes are outdated, inefficiency, time-consuming and emerging-consuming, so we put forward designing a sewage pipeline robot. We design a hardware system of S3C44B0X controller.On the software side, the sewage pipeline robot has more controlled task and more complicated logic structures . If the controlled system software do not use the operating system, it is necessarily complex. To ensure the real-time and simplified system software, we research embedded systems of VxWorks and introduce it to the controlled system of the sewage pipe robot.This control system divides into the ground and the underground .The underground control system take VxWorks as a core, we may use the electro-hydraulic method to the controlled system. Through the movement plan , the control, and the coordination of the working parts and so on, the robot realizes independent movement and coordinated work, namely the robot realizes to control revolving speed and torque of cleaning apparatus, propelling force and velecity of fluid cylinder. The ground-control system process data transmitted by the robot. Both the datas are transferred by wired mode.The robot used the hydraulic-driven as a driving force, and its control systems are based on VxWorks RTOS communications, Image transmission and fault handling. Because of the real-time, reliability, stability and high intelligence, the robot has high practical value.